toplevel added

movearm/move.py

@@ -184,13 +184,13 @@ currentMotor = 0
 motorcfg = [0] * 10
 motorcfg[1] = {"name" : 'base' , "positive":1, "negative":2, 'speedslot':2}
 motorcfg[2] = {"name" : 'reararm' ,"positive":3, "negative":4, 'speedslot':4}
-motorcfg[3] = {"name" : 'base' ,"positive":5, "negative":6, 'speedslot':6}
+motorcfg[3] = {"name" : 'forearm' ,"positive":5, "negative":6, 'speedslot':6}
 
-friction = 0.99
+friction = 0.95
-movement_time = 5
+movement_time = 3
-max_movement_time = 10
+max_movement_time = 5
 min_speed = 1
-max_speed = 50
+max_speed = 100
 
 speed = 0
 stopTime = 0
@@ -224,7 +224,7 @@ def stopMotorFunctions():
 def updateLoop():
     global nowTime, stopTime, currentMotor, speed, friction, min_speed, motorcfg
     nowTime = (time.time() - startTime)
-    threading.Timer(0.2, updateLoop).start()
+    threading.Timer(1, updateLoop).start()
     
     if currentMotor != 0:
         if nowTime > stopTime:
@@ -235,7 +235,7 @@ def updateLoop():
             if abs(speed) < min_speed:
                 stopMotorFunctions()
                 return
-            candy.setparams(motorcfg[currentMotor]['name'], abs(speed)))
+            candy.setparams(motorcfg[currentMotor]['name'], abs(speed))
             #print("JOG parameter {} to {}".format( motorcfg[currentMotor]['speedslot'], abs(speed)) )
 
 
@@ -281,16 +281,20 @@ updateLoop()
 #def down():
 #    c.rearArm(-1)
 #
-#def grab():
+def stopCmp():
-#    c.gripp()
+    candy.stopcmp()
+    
+def grab():
+    candy.gripp()
 #    c.stopcmp()
 #
-#def drop():
+def drop():
-#    c.letgo()
+    candy.letgo()
 #    c.stopcmp()
 #
-#def stop():
+
-#    c.panic()
+def stop():
+    candy.panic()
 #
 #def getCurrentCmd():
 #    return c.getCurrentCmd()