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-rw-r--r--digital/asserv/tools/asserv/mex.py14
1 files changed, 8 insertions, 6 deletions
diff --git a/digital/asserv/tools/asserv/mex.py b/digital/asserv/tools/asserv/mex.py
index 059a29ce..8107f2b4 100644
--- a/digital/asserv/tools/asserv/mex.py
+++ b/digital/asserv/tools/asserv/mex.py
@@ -55,13 +55,14 @@ class Mex:
"""
- def __init__ (self, node, instance):
+ def __init__ (self, node, instance, nb):
Observable.__init__ (self)
self.pwm = None
+ self.nb = nb
node.register (instance + ':pwm', self.__handle)
def __handle (self, msg):
- self.pwm = msg.pop ('hhhh')
+ self.pwm = msg.pop ('h' * self.nb)
self.notify ()
class Aux (Observable):
@@ -88,9 +89,10 @@ class Mex:
aux.angle = float (angle) / 1024
aux.notify ()
- def __init__ (self, node, instance = 'asserv0'):
+ def __init__ (self, node, instance = 'asserv0', aux_nb = 2):
self.position = self.Position (node, instance)
- self.pwm = self.PWM (node, instance)
- self.aux = (self.Aux (), self.Aux ())
- self.__aux_pack = self.Aux.Pack (node, instance, self.aux)
+ self.pwm = self.PWM (node, instance, 2 + aux_nb)
+ if aux_nb:
+ self.aux = (self.Aux (), self.Aux ())
+ self.__aux_pack = self.Aux.Pack (node, instance, self.aux)