Changeset 2305

Timestamp:

02/25/10 22:47:57 (5 months ago)

Author:

fma

Message:

Moved neutral settings in configure() method

Files:

• trunk/papywizard/plugins/pololuServoPlugins.py (modified) (3 diffs)

trunk/papywizard/plugins/pololuServoPlugins.py

@@ -132 +132 @@
         self._hardware.setAxis(AXIS_TABLE[self.capacity]),
         AbstractHardwarePlugin.init(self)
-        self._hardware.setPositionAbsolute(self._config['NEUTRAL_POSITION'])
         self.configure()
         self.__position = 0.
@@ -147 +146 @@
         Logger().trace("PololuServoAxis.configure()")
         AbstractAxisPlugin.configure(self)
+        self._hardware.setPositionAbsolute(self._config['NEUTRAL_POSITION'])
         speed = self.__computeServoSpeed(self._config['SPEED'])
         direction = DIRECTION_TABLE[self._config['DIRECTION']]
@@ -164 +164 @@
         """
         servoSpeed = int(speed * 1000 / self._config['ANGLE_1MS'] / 50)
+        if servoSpeed < 1:
+            servoSpeed = 1
+        elif servoSpeed > 127:
+            servoSpeed = 127
         return servoSpeed