From b313abd7449af357d6815e1116975d5987a39364 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 8 May 2011 15:43:13 +0200 Subject: digital/*/tools: use robot specific init parameters --- digital/asserv/tools/asserv/init.py | 14 ++++++++++++-- digital/asserv/tools/inter_asserv.py | 16 ++++------------ digital/asserv/tools/step.py | 11 ++--------- digital/asserv/tools/test_goto.py | 12 ++---------- digital/asserv/tools/write_eeprom.py | 11 ++--------- 5 files changed, 22 insertions(+), 42 deletions(-) (limited to 'digital/asserv') diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py index 29596a77..3f0afa36 100644 --- a/digital/asserv/tools/asserv/init.py +++ b/digital/asserv/tools/asserv/init.py @@ -1,5 +1,5 @@ """Default parameters for asserv.""" -host = dict ( +host_marcel = dict ( scale = 0.0395840674352314, f = 0xdd1, tkp = 1, tkd = 16, ta = 0.75, tsm = 0x20, tss = 0x10, @@ -12,7 +12,12 @@ host = dict ( E = 0x3ff, D = 0x1ff, l = 0x1000, ) -target = dict ( +host = { + 'giboulee': host_marcel, + 'marcel': host_marcel, + 'robospierre': host_marcel, + } +target_marcel = dict ( scale = 0.0415178942124, f = 0xcef, c = float (0x00ffbabf) / (1 << 24), tkp = 1, tkd = 16, @@ -29,3 +34,8 @@ target = dict ( l = 0x1000, w = 0x09, ) +target = { + 'giboulee': target_marcel, + 'marcel': target_marcel, + 'robospierre': target_marcel, + } diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py index f2c74a5c..82a92c32 100644 --- a/digital/asserv/tools/inter_asserv.py +++ b/digital/asserv/tools/inter_asserv.py @@ -26,8 +26,7 @@ import math import asserv import asserv.init -import proto.popen_io -import serial +from utils.init_proto import init_proto from inter.inter import Inter from Tkinter import * @@ -35,15 +34,9 @@ from Tkinter import * class InterAsserv (Inter): """Inter, communicating with the asserv board.""" - def __init__ (self, argv): + def __init__ (self): # Asserv. - if argv[0] == '!': - io = proto.popen_io.PopenIO (argv[1:]) - i = asserv.init.host - else: - io = serial.Serial (argv[0]) - i = asserv.init.target - self.a = asserv.Proto (io, **i) + self.a = init_proto ('giboulee', asserv.Proto, asserv.init) self.a.async = True # Inter. Inter.__init__ (self) @@ -128,8 +121,7 @@ class InterAsserv (Inter): self.a.ftw (self.backwardVar.get ()) if __name__ == '__main__': - import sys - app = InterAsserv (sys.argv[1:]) + app = InterAsserv () try: app.mainloop () finally: diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py index 5b5040b1..b9f798ef 100644 --- a/digital/asserv/tools/step.py +++ b/digital/asserv/tools/step.py @@ -1,19 +1,12 @@ -import sys - import Gnuplot import asserv -import proto.popen_io -import serial +from utils.init_proto import init_proto def step (name, offset, kp, ki, kd, plots, **param): - if sys.argv[1] == '!': - io = proto.popen_io.PopenIO (sys.argv[2:]) - else: - io = serial.Serial (sys.argv[1]) p = { name + 'kp': kp, name + 'ki': ki, name + 'kd': kd} p.update (param) - a = asserv.Proto (io, **p) + a = init_proto (None, asserv.Proto, init = p) a.stats (*plots) a.consign (name, offset) #a.speed (name, 16) diff --git a/digital/asserv/tools/test_goto.py b/digital/asserv/tools/test_goto.py index da9ee41c..2cbbb350 100644 --- a/digital/asserv/tools/test_goto.py +++ b/digital/asserv/tools/test_goto.py @@ -1,19 +1,11 @@ -import sys import random import math import asserv import asserv.init -import proto.popen_io -import serial +from utils.init_proto import init_proto -if sys.argv[1] == '!': - io = proto.popen_io.PopenIO (sys.argv[2:]) - init = asserv.init.host -else: - io = serial.Serial (sys.argv[1]) - init = asserv.init.target -a = asserv.Proto (io, **init) +a = init_proto (None, asserv.Proto, asserv.init) for i in xrange (10): x = random.randrange (2000) y = random.randrange (1100) diff --git a/digital/asserv/tools/write_eeprom.py b/digital/asserv/tools/write_eeprom.py index b6b9abd9..09a727ea 100644 --- a/digital/asserv/tools/write_eeprom.py +++ b/digital/asserv/tools/write_eeprom.py @@ -2,15 +2,8 @@ import sys import asserv import asserv.init -import proto.popen_io -import serial +from utils.init_proto import init_proto -if sys.argv[1] == '!': - io = proto.popen_io.PopenIO (sys.argv[2:]) - init = asserv.init.host -else: - io = serial.Serial (sys.argv[1]) - init = asserv.init.target -a = asserv.Proto (io, **init) +a = init_proto (None, asserv.Proto, asserv.init) a.write_eeprom () a.close () -- cgit v1.2.3