summaryrefslogtreecommitdiff
path: root/i/marvin/src/asserv/asserv.cc
diff options
context:
space:
mode:
authorschodet2006-05-22 21:20:24 +0000
committerschodet2006-05-22 21:20:24 +0000
commit7d808f18089edd6763a630d5bc40695698c81566 (patch)
treed728ae763b1427211d97945203256824721b91c1 /i/marvin/src/asserv/asserv.cc
parent063f5ffafc9aa8eb90efa0cc3aaeaac69777d69c (diff)
Ajout de la classe Motor et modification du test Asserv.
Diffstat (limited to 'i/marvin/src/asserv/asserv.cc')
-rw-r--r--i/marvin/src/asserv/asserv.cc7
1 files changed, 7 insertions, 0 deletions
diff --git a/i/marvin/src/asserv/asserv.cc b/i/marvin/src/asserv/asserv.cc
index f5321fc..5726dbf 100644
--- a/i/marvin/src/asserv/asserv.cc
+++ b/i/marvin/src/asserv/asserv.cc
@@ -129,6 +129,13 @@ Asserv::speedTo (double t, double a, int seq)
proto_.send ('s', "ddb", mmToStep (t), mmToStep (a), seq);
}
+/// Speed controlled angle consign offset.
+void
+Asserv::speedAngle (double a, int seq)
+{
+ proto_.send ('s', "ddb", 0, radToStep (a), seq);
+}
+
/// Find a hole.
void
Asserv::findHole (int seq)