From 0f5fb480d954339158033be901a19f15c3815847 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 20 Apr 2008 19:18:20 +0200 Subject: * digital/asserv/src/asserv: - added goto_xya command. - reduced the goto_angle proto parameter size. * digital/io/doc: - added goto_xya command. * digital/asserv/tools: - added goto_xya command. --- digital/asserv/tools/asserv.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) (limited to 'digital/asserv/tools') diff --git a/digital/asserv/tools/asserv.py b/digital/asserv/tools/asserv.py index 2687099f..6260f0ef 100644 --- a/digital/asserv/tools/asserv.py +++ b/digital/asserv/tools/asserv.py @@ -145,7 +145,15 @@ class Asserv: def goto_angle (self, a): """Go to angle.""" self.seq += 1 - self.proto.send ('x', 'LB', a * (1 << 24) / 360, self.seq) + self.proto.send ('x', 'HB', a * (1 << 16) / 360, self.seq) + self.wait (self.finished) + + def goto_xya (self, x, y, a): + """Go to position, then angle.""" + self.seq += 1 + self.proto.send ('x', 'LLHB', 256 * x / self.param['scale'], + 256 * y / self.param['scale'], + a * (1 << 16) / 360, self.seq) self.wait (self.finished) def send_param (self): -- cgit v1.2.3