Merge branch 'saved' of ssh://liebe.cs.uni-saarland.de:2222/powver/draisine into saved

draiscontrol/control.py

@@ -124,13 +124,19 @@ class Control(object):
         sys.stdout.flush()
 
     def accelerationToByte(self, a):
-        a /= self.accG            # convert back to g-force
-        a *= 16384.0              # convert back to raw 16-bit word
+        a /= self.accG             # convert back to g-force
+        a *= 16384.0               # convert back to raw 16-bit word
         a += (2**15)               # shift value to nonnegative range
         a = int(a / (2**8))        # truncate to byte
         a = min(max(a, 0), 2**8-1) # enforce range
         return a
 
+    def speedToByte(self, s):
+        s *= 25                    # stretch to reasonable range
+        s = int(s)                 # truncate to byte
+        s = min(max(s, 0), 2**8-1) # enforce range
+        return s
+
     def savedloop(self, human=False):
         #  old duty signal
         #        |
@@ -141,11 +147,13 @@ class Control(object):
         while True:
             self.refreshSensors()
             a = self.accY.read(t)
+            s = self.hallSpeed.read(t)
             d = 0.75 # TODO
             b = max(0, min(254, int(254 * d)))
             if human:
-                print 'accY = {v}'.format(v=self.accelerationToByte(a))
-                print 'duty = {d}'.format(d=b)
+                print 'accY  = {v}'.format(v=self.accelerationToByte(a))
+                print 'speed = {s}'.format(s=self.speedToByte(s))
+                print 'duty  = {d}'.format(d=b)
             else:
                 dutycmd = array.array('B', [b])
                 self.logDuty(dutycmd)