From 8ed9fb23f3ab93374d9bcbe6560e84c6c1de1b2a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 7 May 2011 00:30:10 +0200 Subject: digital/{ai,io-hub}, host/simu: use io-hub for simu --- digital/ai/tools/robospierre.py | 10 +++++----- digital/ai/tools/test_simu_control_robospierre.py | 4 ++-- 2 files changed, 7 insertions(+), 7 deletions(-) (limited to 'digital/ai/tools') 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) -- cgit v1.2.3