From eb45102670d7e8fade34cd3a45b392ce672eef34 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 22 Apr 2013 19:41:22 +0200 Subject: digital/asserv/tools: add move_distance & move_angle --- digital/asserv/tools/asserv/asserv.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/asserv') diff --git a/digital/asserv/tools/asserv/asserv.py b/digital/asserv/tools/asserv/asserv.py index b2b1cfbb..12645172 100644 --- a/digital/asserv/tools/asserv/asserv.py +++ b/digital/asserv/tools/asserv/asserv.py @@ -273,6 +273,18 @@ class Proto: self.proto.send ('y', 'BhB', i, pos, self.aseq[i]) self.wait (self.finished, auto = True) + def move_distance (self, d): + """Move by a specified distance.""" + self.mseq += 1 + self.proto.send ('l', 'lB', self._dist (d), self.mseq) + self.wait (self.finished, auto = True) + + def move_angle (self, a): + """Move by a specified angle.""" + self.mseq += 1 + self.proto.send ('a', 'lB', self._angle_f824 (a), self.mseq) + self.wait (self.finished, auto = True) + def ftw (self, backward = True): """Go to the wall.""" self.mseq += 1 -- cgit v1.2.3