From 4c906a71e929a6cd59bd8cd654ad75d7bf60f986 Mon Sep 17 00:00:00 2001
From: Marek Baczynski <marekba@kth.se>
Date: Sat, 24 Nov 2018 17:41:50 +0200
Subject: [PATCH] changig directions mid movement fix

---
 movearm/move.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/movearm/move.py b/movearm/move.py
index 47d2ffb..54ee064 100644
--- 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