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-rw-r--r--digital/asserv/tools/step.py8
1 files changed, 7 insertions, 1 deletions
diff --git a/digital/asserv/tools/step.py b/digital/asserv/tools/step.py
index 498ce58f..238ba5a0 100644
--- a/digital/asserv/tools/step.py
+++ b/digital/asserv/tools/step.py
@@ -3,15 +3,21 @@ sys.path.append (sys.path[0] + '/../../../host/proto')
from asserv import Asserv
import popen_io
+import serial
import Gnuplot
def step (name, kp, ki, kd, plots):
- io = popen_io.PopenIO (sys.argv[1:])
+ if sys.argv[1] == '!':
+ io = popen_io.PopenIO (sys.argv[2:])
+ else:
+ io = serial.Serial (sys.argv[1])
a = Asserv (io, **{ name + 'kp': kp, name + 'ki': ki, name + 'kd': kd})
a.stats ('PW')
a.consign (name, 0x200)
a.wait (lambda: a.stats_count > 225 * 2)
list = a.get_stats ()
+ a.reset ()
+ a.wait (lambda: True)
g = Gnuplot.Gnuplot (persist = True)
g ('set data style lines')