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authorNicolas Schodet2008-04-28 15:31:37 +0200
committerNicolas Schodet2008-04-28 15:31:37 +0200
commit9db8edadcb71c67526fb34cd5c11a174608e875b (patch)
treec114d7dae0ddf58a98286cffc87151bc6a0aeeab /digital/asserv/tools/step.py
parentd15ad0824f50109713dccb0cf7794c50bbc10434 (diff)
* digital/asserv/tools:
- tuned arm PID.
Diffstat (limited to 'digital/asserv/tools/step.py')
-rw-r--r--digital/asserv/tools/step.py15
1 files changed, 9 insertions, 6 deletions
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
index addc1ddd..5b87d5cd 100644
--- a/digital/asserv/tools/step.py
+++ b/digital/asserv/tools/step.py
@@ -6,14 +6,17 @@ import popen_io
import serial
import Gnuplot
-def step (name, kp, ki, kd, plots):
+def step (name, offset, kp, ki, kd, plots, **param):
if sys.argv[1] == '!':
io = popen_io.PopenIO (sys.argv[2:])
else:
io = serial.Serial (sys.argv[1])
- a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd})
+ p = { name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}
+ p.update (param)
+ a = Asserv (io, **p)
a.stats (*plots)
- a.consign (name, 0x200)
+ a.consign (name, offset)
+ #a.speed (name, 16)
array = a.get_stats (225)
a.close ()
@@ -21,6 +24,6 @@ def step (name, kp, ki, kd, plots):
g ('set data style lines')
g.plot (*[array[:, i] for i in xrange (len (plots))])
-step ('t', 1, 0, 16, ('te', 'lw', 'rw'))
-#step ('a', 1, 0, 16, ('ae', 'lw', 'rw'))
-#step ('a0', 1, 0, 16, ('a0e', 'a0w'))
+step ('t', 0x200, 1, 0, 16, ('te', 'lw', 'rw'))
+#step ('a', 0x200, 1, 0, 16, ('ae', 'lw', 'rw'))
+#step ('a0', 100, 0.8, 0.05, 0.05, ('a0e', 'a0w', 'a0i'), I = 8191)