changig directions mid movement fix

6 years ago · 4c906a71e9
parent c4fd668de7
commit 4c906a71e9
1 changed files with 4 additions and 1 deletions
--- a/movearm/move.py
+++ b/movearm/move.py
@ -201,7 +201,10 @@ def adjustSpeed(motor, adjustment):
    global nowTime, stopTime, currentMotor, speed, motorcfg, movement_time, max_speed, max_movement_time
    if currentMotor==motor:
        if (adjustment>0 and speed>0) or (adjustment<0 and speed<0):
            speed += adjustment * (abs(speed)/max_speed)
        else:
            stopMotorFunctions()
        stopTime += movement_time/2 * max_movement_time/(stopTime - nowTime)
    else:
        currentMotor = motor