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authorNicolas Schodet2011-05-08 15:43:13 +0200
committerNicolas Schodet2011-05-08 15:44:08 +0200
commitb313abd7449af357d6815e1116975d5987a39364 (patch)
tree32c936f6bb7d49e217067d356f927dfeba8a3cbd /digital/asserv
parentfd2feb1325a6899fa20fd9996e22d22205c01f85 (diff)
digital/*/tools: use robot specific init parameters
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/tools/asserv/init.py14
-rw-r--r--digital/asserv/tools/inter_asserv.py16
-rw-r--r--digital/asserv/tools/step.py11
-rw-r--r--digital/asserv/tools/test_goto.py12
-rw-r--r--digital/asserv/tools/write_eeprom.py11
5 files changed, 22 insertions, 42 deletions
diff --git a/digital/asserv/tools/asserv/init.py b/digital/asserv/tools/asserv/init.py
index 29596a77..3f0afa36 100644
--- a/digital/asserv/tools/asserv/init.py
+++ b/digital/asserv/tools/asserv/init.py
@@ -1,5 +1,5 @@
"""Default parameters for asserv."""
-host = dict (
+host_marcel = dict (
scale = 0.0395840674352314, f = 0xdd1,
tkp = 1, tkd = 16,
ta = 0.75, tsm = 0x20, tss = 0x10,
@@ -12,7 +12,12 @@ host = dict (
E = 0x3ff, D = 0x1ff,
l = 0x1000,
)
-target = dict (
+host = {
+ 'giboulee': host_marcel,
+ 'marcel': host_marcel,
+ 'robospierre': host_marcel,
+ }
+target_marcel = dict (
scale = 0.0415178942124, f = 0xcef,
c = float (0x00ffbabf) / (1 << 24),
tkp = 1, tkd = 16,
@@ -29,3 +34,8 @@ target = dict (
l = 0x1000,
w = 0x09,
)
+target = {
+ 'giboulee': target_marcel,
+ 'marcel': target_marcel,
+ 'robospierre': target_marcel,
+ }
diff --git a/digital/asserv/tools/inter_asserv.py b/digital/asserv/tools/inter_asserv.py
index f2c74a5c..82a92c32 100644
--- a/digital/asserv/tools/inter_asserv.py
+++ b/digital/asserv/tools/inter_asserv.py
@@ -26,8 +26,7 @@ import math
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
from inter.inter import Inter
from Tkinter import *
@@ -35,15 +34,9 @@ from Tkinter import *
class InterAsserv (Inter):
"""Inter, communicating with the asserv board."""
- def __init__ (self, argv):
+ def __init__ (self):
# Asserv.
- if argv[0] == '!':
- io = proto.popen_io.PopenIO (argv[1:])
- i = asserv.init.host
- else:
- io = serial.Serial (argv[0])
- i = asserv.init.target
- self.a = asserv.Proto (io, **i)
+ self.a = init_proto ('giboulee', asserv.Proto, asserv.init)
self.a.async = True
# Inter.
Inter.__init__ (self)
@@ -128,8 +121,7 @@ class InterAsserv (Inter):
self.a.ftw (self.backwardVar.get ())
if __name__ == '__main__':
- import sys
- app = InterAsserv (sys.argv[1:])
+ app = InterAsserv ()
try:
app.mainloop ()
finally:
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
index 5b5040b1..b9f798ef 100644
--- a/digital/asserv/tools/step.py
+++ b/digital/asserv/tools/step.py
@@ -1,19 +1,12 @@
-import sys
-
import Gnuplot
import asserv
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
def step (name, offset, kp, ki, kd, plots, **param):
- if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- else:
- io = serial.Serial (sys.argv[1])
p = { name + 'kp': kp, name + 'ki': ki, name + 'kd': kd}
p.update (param)
- a = asserv.Proto (io, **p)
+ a = init_proto (None, asserv.Proto, init = p)
a.stats (*plots)
a.consign (name, offset)
#a.speed (name, 16)
diff --git a/digital/asserv/tools/test_goto.py b/digital/asserv/tools/test_goto.py
index da9ee41c..2cbbb350 100644
--- a/digital/asserv/tools/test_goto.py
+++ b/digital/asserv/tools/test_goto.py
@@ -1,19 +1,11 @@
-import sys
import random
import math
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
-if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- init = asserv.init.host
-else:
- io = serial.Serial (sys.argv[1])
- init = asserv.init.target
-a = asserv.Proto (io, **init)
+a = init_proto (None, asserv.Proto, asserv.init)
for i in xrange (10):
x = random.randrange (2000)
y = random.randrange (1100)
diff --git a/digital/asserv/tools/write_eeprom.py b/digital/asserv/tools/write_eeprom.py
index b6b9abd9..09a727ea 100644
--- a/digital/asserv/tools/write_eeprom.py
+++ b/digital/asserv/tools/write_eeprom.py
@@ -2,15 +2,8 @@ import sys
import asserv
import asserv.init
-import proto.popen_io
-import serial
+from utils.init_proto import init_proto
-if sys.argv[1] == '!':
- io = proto.popen_io.PopenIO (sys.argv[2:])
- init = asserv.init.host
-else:
- io = serial.Serial (sys.argv[1])
- init = asserv.init.target
-a = asserv.Proto (io, **init)
+a = init_proto (None, asserv.Proto, asserv.init)
a.write_eeprom ()
a.close ()