From 7d808f18089edd6763a630d5bc40695698c81566 Mon Sep 17 00:00:00 2001 From: schodet Date: Mon, 22 May 2006 21:20:24 +0000 Subject: Ajout de la classe Motor et modification du test Asserv. --- i/marvin/src/asserv/asserv.cc | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'i/marvin/src/asserv/asserv.cc') 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) -- cgit v1.2.3