Changeset 648 for trunk/software

Timestamp:

02/01/10 19:51:05 (2 years ago)

Author:

mosttw

Message:

Slightly questionable attempt to convert setspeed to setdc.

Files:

• trunk/software/rb/drive.py (modified) (4 diffs)

trunk/software/rb/drive.py

@@ -18 +18 @@
 
 '''
-Functions to communicate with the `2008 legacy motor controllers`_ 
-via RS-232.
-
-.. _2008 legacy motor controllers: http://www.rhitrobotics.org/wiki/igvc/2008-motor-control
+Communicate with the 2009 motor controllers via RS-232.
 '''
 
@@ -46 +43 @@
 # Max speed
 MAX      = 400 
+# Max duty cycle
+DC_MAX = 255
 
 Ok, Err = range(2)
@@ -170 +169 @@
                 logger.info("Motor %s main starting", self.dev)
                 while self.drive.running:
-                        self._send("setspeed", self.target * MAX) # Ping!
+                        self._send('setdc', self.target * DC_MAX) # Ping!
                         time.sleep(.05)
                 logger.info("Motor %s main terminating", self.dev)
-                self._send("setspeed", 0)
+                self._send('setdc', 0)
         
         def _send(self, type, *t_data):
                 #print "Acquiring drive %s lock" % (self._port_name,)
-                self._port_lock.acquire()
-                try:
+                with self._port_lock:
                         t, r = messages[type]
 
@@ -216 +214 @@
                                 return r_data[0]
                         return r_data
-                finally:
-                        self._port_lock.release()