From 9ef4e173c5f6b6f4822d6b03befe3af9cdc9dc51 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 27 Mar 2012 23:29:37 +0200 Subject: digital/asserv/tools: support asserv without aux --- digital/asserv/tools/asserv/mex.py | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) (limited to 'digital/asserv/tools/asserv/mex.py') 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) -- cgit v1.2.3