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authorNicolas Schodet2008-04-20 19:18:20 +0200
committerNicolas Schodet2008-04-20 19:18:20 +0200
commit0f5fb480d954339158033be901a19f15c3815847 (patch)
treede10f60e720d642d48afde6416b08246fc1a9a33 /digital/asserv/tools
parent1457b88a0acdda5835e9bba8251acb1205435467 (diff)
* digital/asserv/src/asserv:
- added goto_xya command. - reduced the goto_angle proto parameter size. * digital/io/doc: - added goto_xya command. * digital/asserv/tools: - added goto_xya command.
Diffstat (limited to 'digital/asserv/tools')
-rw-r--r--digital/asserv/tools/asserv.py10
1 files changed, 9 insertions, 1 deletions
diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py
index 2687099f..6260f0ef 100644
--- a/digital/asserv/tools/asserv.py
+++ b/digital/asserv/tools/asserv.py
@@ -145,7 +145,15 @@ class Asserv:
def goto_angle (self, a):
"""Go to angle."""
self.seq += 1
- self.proto.send ('x', 'LB', a * (1 << 24) / 360, self.seq)
+ self.proto.send ('x', 'HB', a * (1 << 16) / 360, self.seq)
+ self.wait (self.finished)
+
+ def goto_xya (self, x, y, a):
+ """Go to position, then angle."""
+ self.seq += 1
+ self.proto.send ('x', 'LLHB', 256 * x / self.param['scale'],
+ 256 * y / self.param['scale'],
+ a * (1 << 16) / 360, self.seq)
self.wait (self.finished)
def send_param (self):