summaryrefslogtreecommitdiff
path: root/digital/asserv
diff options
context:
space:
mode:
authorNicolas Schodet2008-04-18 10:33:00 +0200
committerNicolas Schodet2008-04-18 10:33:00 +0200
commit109b68101b37407591c34d6cccec6801798830fb (patch)
treed6b916e1ed8ee64e9819ab1e79774c560a88916d /digital/asserv
parent5ea1efc333fb48bb5ff32046a0e89ae1557c75ab (diff)
* digital/asserv/tools:
- added speed controlled position offset command.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/tools/asserv.py12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py
index 8b0752ec..2687099f 100644
--- a/digital/asserv/tools/asserv.py
+++ b/digital/asserv/tools/asserv.py
@@ -123,6 +123,18 @@ class Asserv:
assert w == 'a0'
self.proto.send ('s', 'b', s)
+ def speed_pos (self, w, offset):
+ """Speed controlled position consign."""
+ self.seq += 1
+ if w == 't':
+ self.proto.send ('s', 'LLB', offset, 0, self.seq)
+ elif w == 'a':
+ self.proto.send ('s', 'LLB', 0, offset, self.seq)
+ else:
+ assert w == 'a0'
+ self.proto.send ('s', 'LB', offset, self.seq)
+ self.wait (self.finished)
+
def goto (self, x, y):
"""Go to position."""
self.seq += 1