changig directions mid movement fix

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