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authorNicolas Schodet2009-05-07 22:39:46 +0200
committerNicolas Schodet2009-05-07 22:39:46 +0200
commite5955adc9c33cee7d2fdda723fb02a2af5e612be (patch)
tree55f63d8ea3ae235d09b15d75fea685bedac85c20 /digital/asserv/tools
parent362824bd00aad8e470baceef83f1c7b24dec6656 (diff)
* digital/asserv:
- added forward go to the wall. - use defines for contacts.
Diffstat (limited to 'digital/asserv/tools')
-rw-r--r--digital/asserv/tools/asserv/asserv.py6
-rw-r--r--digital/asserv/tools/inter_asserv.py6
2 files changed, 12 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py
index 5c7830c6..a8b5c753 100644
--- a/digital/asserv/tools/asserv/asserv.py
+++ b/digital/asserv/tools/asserv/asserv.py
@@ -246,6 +246,12 @@ class Proto:
self._angle_f16 (a), self.mseq)
self.wait (self.finished, auto = True)
+ def ftw (self, backward = True):
+ """Go to the wall."""
+ self.mseq += 1
+ self.proto.send ('f', 'BB', backward and 1 or 0, self.mseq)
+ self.wait (self.finished, auto = True)
+
def set_simu_pos (self, x, y, a):
"""Set simulated position."""
self.proto.send ('h', 'chhh', 'X', int (round (x)), int (round (y)),
diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py
index a3af95ea..144c79a3 100644
--- a/digital/asserv/tools/inter_asserv.py
+++ b/digital/asserv/tools/inter_asserv.py
@@ -71,6 +71,9 @@ class InterAsserv (Inter):
self.backwardOkButton = Checkbutton (self.rightFrame,
text = 'backward ok', variable = self.backwardOkVar)
self.backwardOkButton.pack ()
+ self.ftwButton = Button (self.rightFrame, text = 'FTW',
+ command = self.ftw)
+ self.ftwButton.pack ()
self.tableview.configure (cursor = 'crosshair')
self.tableview.bind ('<1>', self.button1)
@@ -115,6 +118,9 @@ class InterAsserv (Inter):
def emergency_stop (self):
self.a.free ()
+ def ftw (self):
+ self.a.ftw (self.backwardOkVar.get ())
+
if __name__ == '__main__':
import sys
app = InterAsserv (sys.argv[1:])