From a146e54732b0b62a93663d0dbf98b8c4ead9a89c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 Apr 2008 00:21:22 +0200 Subject: * digital/asserv/tools: - added speed command. --- digital/asserv/tools/asserv.py | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) (limited to 'digital/asserv') diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py index 604918cd..548eb79e 100644 --- a/digital/asserv/tools/asserv.py +++ b/digital/asserv/tools/asserv.py @@ -44,7 +44,7 @@ class Asserv: akp = 0, aki = 0, akd = 0, a0kp = 0, a0ki = 0, a0kd = 0, E = 1023, I = 1023, b = 15000, - ta = 0, aa = 0, a0a = 0, + ta = 1, aa = 1, a0a = 1, tsm = 0, asm = 0, tss = 0, ass = 0, a0sm = 0, a0ss = 0 ) self.param.update (param) @@ -108,6 +108,16 @@ class Asserv: assert w == 'a0' self.proto.send ('c', 'h', c) + def speed (self, w, s): + """Speed consign.""" + if w == 't': + self.proto.send ('s', 'bb', s, 0) + elif w == 'a': + self.proto.send ('s', 'bb', 0, s) + else: + assert w == 'a0' + self.proto.send ('s', 'b', s) + def send_param (self): p = self.param self.proto.send ('p', 'BHH', ord ('p'), p['tkp'] * 256, -- cgit v1.2.3