summaryrefslogtreecommitdiff
path: root/digital
diff options
context:
space:
mode:
Diffstat (limited to 'digital')
-rw-r--r--digital/ai/tools/robospierre.py10
-rw-r--r--digital/ai/tools/test_simu_control_robospierre.py4
-rw-r--r--digital/io-hub/src/robospierre/main.c1
3 files changed, 8 insertions, 7 deletions
diff --git a/digital/ai/tools/robospierre.py b/digital/ai/tools/robospierre.py
index 23fb19a3..59023184 100644
--- a/digital/ai/tools/robospierre.py
+++ b/digital/ai/tools/robospierre.py
@@ -9,8 +9,8 @@ import asserv
import asserv.init
import mimot
import mimot.init
-import io
-import io.init
+import io_hub
+import io_hub.init
from proto.popen_io import PopenIO
import math
@@ -25,13 +25,13 @@ class Robot:
self.robot_view = simu.robots.robospierre.view.bag
asserv_cmd = ('../../asserv/src/asserv/asserv.host', '-m9', 'marcel')
mimot_cmd = ('../../mimot/src/dirty/dirty.host', '-m9', 'marcel')
- io_cmd = ('../../io/src/io.host')
+ io_hub_cmd = ('../../io-hub/src/robospierre/io_hub.host')
self.asserv = asserv.Proto (PopenIO (asserv_cmd), proto_time,
**asserv.init.host)
self.mimot = mimot.Proto (PopenIO (mimot_cmd), proto_time,
**mimot.init.host)
- self.io = io.Proto (PopenIO (io_cmd), proto_time,
- **io.init.host)
+ self.io = io_hub.Proto (PopenIO (io_hub_cmd), proto_time,
+ **io_hub.init.host)
self.robot_start_pos = {
False: (700, 2100 - 250, math.radians (-270)),
True: (3000 - 700, 2100 - 250, math.radians (-270))
diff --git a/digital/ai/tools/test_simu_control_robospierre.py b/digital/ai/tools/test_simu_control_robospierre.py
index 9da57196..5300918a 100644
--- a/digital/ai/tools/test_simu_control_robospierre.py
+++ b/digital/ai/tools/test_simu_control_robospierre.py
@@ -78,9 +78,9 @@ class TestSimuControl (TestSimu):
def clamp_command (self):
if self.clamp_var.get ():
- self.io.pwm_set (-0x7fff, 255)
+ self.io.pwm_set_timed (0, -0x3ff, 255, 0)
else:
- self.io.pwm_set (0x7fff, 255)
+ self.io.pwm_set_timed (0, 0x3ff, 255, 0)
def elevation_up_command (self):
self.mimot.speed_pos ('a0', self.ELEVATION_STROKE / 2)
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index bbc9bdb9..980ab138 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -60,6 +60,7 @@ main_init (void)
sei ();
/* Main timer */
timer_init ();
+ timer_wait ();
/* TWI communications */
asserv_init ();
mimot_init ();