From 82783f389d48bfaef2a8a96c178763ad55b1e65b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 4 Apr 2008 17:14:38 +0200 Subject: * digital/asserv/src/asserv, host/inter: - added asserv simu messages. --- host/inter/inter_node.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'host/inter/inter_node.py') 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 -- cgit v1.2.3