From 38aa82a1a03efd53933957fece2e19567afbe6bd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 12 May 2012 14:43:44 +0200 Subject: digital/asserv, digital/mimot: add blocking simulation --- digital/mimot/src/dirty/main.c | 7 +++++++ digital/mimot/tools/mimot/mimot.py | 4 ++++ 2 files changed, 11 insertions(+) (limited to 'digital/mimot') diff --git a/digital/mimot/src/dirty/main.c b/digital/mimot/src/dirty/main.c index e294c8bf..f6b7fd6a 100644 --- a/digital/mimot/src/dirty/main.c +++ b/digital/mimot/src/dirty/main.c @@ -224,6 +224,13 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) output_set (output, v8_to_v16 (args[1], args[2])); control_state_set_mode (state, CS_MODE_NONE, 0); break; + case c ('b', 1): + /* Simulate a blocked state on auxiliary motor. + * - b: aux index. */ + if (!auxp) { proto_send0 ('?'); return; } + output_set (output, 0); + control_state_blocked (state); + break; case c ('b', 2): /* Set brake and set zero auxiliary pwm. * - b: aux index. diff --git a/digital/mimot/tools/mimot/mimot.py b/digital/mimot/tools/mimot/mimot.py index cb4caace..01d2b74a 100644 --- a/digital/mimot/tools/mimot/mimot.py +++ b/digital/mimot/tools/mimot/mimot.py @@ -134,6 +134,10 @@ class Proto: del self.stats_line return array + def block (self, w): + """Simulate blocking.""" + self.proto.send ('b', 'B', self._index[w]) + def consign (self, w, c): """Consign offset.""" self.proto.send ('c', 'Bh', self._index[w], c) -- cgit v1.2.3