def move(self, angle, speed = None, acc = None):
dt = 0.06
if speed == None:
speed = self.speed
if acc == None:
acc = self.acc
speed = speed * dt
acc = acc * dt
ramp = RampProfile(self.angle, angle, speed, acc)
while True:
pos = ramp.next()
if not pos:
break
self.angle = pos
time.sleep(dt)
def move(self, angle, speed=None, acc=None):
dt = 0.06
if speed == None:
speed = self.speed
if acc == None:
acc = self.acc
speed = speed * dt
acc = acc * dt
ramp = RampProfile(self.angle, angle, speed, acc)
while True:
pos = ramp.next()
if not pos:
break
self.angle = pos
time.sleep(dt)
def moveMonitor(self, target, speed = None, acc = None):
with open("/tmp/toto", "w") as f:
dt = 0.04
if speed == None:
speed_up = self.speed_up
speed_clamp = self.speed_clamp
else:
speed_up = speed
speed_clamp = speed
if acc == None:
acc = self.acc
speed_d = speed_clamp * dt
speed_g = speed_clamp * dt
speed_h = speed_up * dt
acc = acc * dt
d,g,h = self.pos
rampD = RampProfile(d, target[0], speed_d, acc)
rampG = RampProfile(g, target[1], speed_g, acc)
rampH = RampProfile(h, target[2], speed_h, acc)
while True:
d = rampD.next()
g = rampG.next()
h = rampH.next()
if not any([d, g, h]):
break
if d == None: d = target[0]
if g == None: g = target[1]
if h == None: h = target[2]
self.target = (d, g, h)
for i in range(5):
pd,pg,ph = self.pos
f.write("%f %f %f %f %f %f\n" % (d,g,h,pd,pg,ph))
time.sleep(dt/5)
def move(self, target, speed = None, acc = None):
dt = 0.04
if speed == None:
speed_up = self.speed_up
speed_clamp = self.speed_clamp
else:
speed_up = speed
speed_clamp = speed
if acc == None:
acc = self.acc
speed_d = speed_clamp * dt
speed_g = speed_clamp * dt
speed_h = speed_up * dt
acc = acc * dt
d,g,h = self.pos
rampD = RampProfile(d, target[0], speed_d, acc)
rampG = RampProfile(g, target[1], speed_g, acc)
rampH = RampProfile(h, target[2], speed_h, acc)
while self.abort == False:
d = rampD.next()
g = rampG.next()
h = rampH.next()
if not any([d, g, h]):
break
if d == None: d = target[0]
if g == None: g = target[1]
if h == None: h = target[2]
self.target = (d, g, h)
time.sleep(dt)
