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-rw-r--r--host/inter/inter_node.py13
1 files changed, 13 insertions, 0 deletions
diff --git a/host/inter/inter_node.py b/host/inter/inter_node.py
index 44823eb7..14be6908 100644
--- a/host/inter/inter_node.py
+++ b/host/inter/inter_node.py
@@ -40,6 +40,8 @@ class InterNode (Inter):
def __init__ (self):
Inter.__init__ (self)
self.node = Node ()
+ self.node.register (0xa0, self.handle_asserv_0)
+ self.node.register (0xa8, self.handle_asserv_8)
self.tk.createfilehandler (self.node, READABLE, self.read)
self.step_after = None
@@ -89,6 +91,17 @@ class InterNode (Inter):
self.step_after = self.after (int (self.stepSizeScale.get ()
* self.TICK), self.step)
+ def handle_asserv_0 (self, msg):
+ x, y, a = msg.pop ('hhl')
+ self.tableview.robot.pos = (x, y)
+ self.tableview.robot.angle = float (a) / 1024
+ self.update (self.tableview.robot)
+
+ def handle_asserv_8 (self, msg):
+ a, = msg.pop ('l')
+ self.actuatorview.arm.angle = float (a) / 1024
+ self.update (self.actuatorview.arm)
+
if __name__ == '__main__':
import mex.hub
import mex.forked