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-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):