Merge branch 'master' of https://git.elab.kth.se/marek/Twitch-grabs-candy

5 years ago · 526b963686
parent 7994f3a432 4c906a71e9
commit 526b963686
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:
-        speed += adjustment * (abs(speed)/max_speed)
+        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