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authorNicolas Schodet2010-05-10 08:38:26 +0200
committerNicolas Schodet2010-05-10 08:38:26 +0200
commit2781ad249062dac90dd5b86da6b2d54bfa597e7e (patch)
treeb54d857eb61fa1dafd16cb170468ac54ad425ebb /digital/mimot/tools/mimot
parent022d4aa4f9e6ee7aad29a46d4ce3df5383426f6b (diff)
digital/mimot: add clamp command
Diffstat (limited to 'digital/mimot/tools/mimot')
-rw-r--r--digital/mimot/tools/mimot/mimot.py7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/mimot/tools/mimot/mimot.py b/digital/mimot/tools/mimot/mimot.py
index 2844c741..013a85ff 100644
--- a/digital/mimot/tools/mimot/mimot.py
+++ b/digital/mimot/tools/mimot/mimot.py
@@ -155,6 +155,13 @@ class Proto:
self.proto.send ('y', 'BhB', i, pos, self.aseq[i])
self.wait (self.finished, auto = True)
+ def clamp (self, w, s, pwm):
+ """Clamp (speed control, then open loop PWM)."""
+ i = self._index[w]
+ self.aseq[i] += 1
+ self.proto.send ('y', 'BBhB', i, s, pwm, self.aseq[i])
+ self.wait (self.finished, auto = True)
+
def send_param (self):
"""Send all parameters."""
p = self.param