From 109b68101b37407591c34d6cccec6801798830fb Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 18 Apr 2008 10:33:00 +0200 Subject: * digital/asserv/tools: - added speed controlled position offset command. --- digital/asserv/tools/asserv.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/asserv') diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py index 8b0752ec..2687099f 100644 --- a/digital/asserv/tools/asserv.py +++ b/digital/asserv/tools/asserv.py @@ -123,6 +123,18 @@ class Asserv: assert w == 'a0' self.proto.send ('s', 'b', s) + def speed_pos (self, w, offset): + """Speed controlled position consign.""" + self.seq += 1 + if w == 't': + self.proto.send ('s', 'LLB', offset, 0, self.seq) + elif w == 'a': + self.proto.send ('s', 'LLB', 0, offset, self.seq) + else: + assert w == 'a0' + self.proto.send ('s', 'LB', offset, self.seq) + self.wait (self.finished) + def goto (self, x, y): """Go to position.""" self.seq += 1 -- cgit v1.2.3