From dd289bbb16b385d9d48f6c2c1e3394c874ee0f66 Mon Sep 17 00:00:00 2001
From: Marek Baczynski <marekba@kth.se>
Date: Sat, 24 Nov 2018 19:57:16 +0200
Subject: [PATCH] speed should accumulate correctly

---
 movearm/move.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/movearm/move.py b/movearm/move.py
index 4bbb4bd..2c648f5 100644
--- a/movearm/move.py
+++ b/movearm/move.py
@@ -191,7 +191,7 @@ friction = 0.95
 movement_time = 3
 max_movement_time = 5
 min_speed = 1
-max_speed = 100
+max_speed = 50
 
 speed = 0
 stopTime = 0
@@ -202,8 +202,8 @@ 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)
+        if (adjustment>0 and speed>0) or (adjustment<0 and speed<0):=
+            speed += adjustment * 1-(abs(speed)/max_speed)
         else:
             stopMotorFunctions()
         stopTime += movement_time/2 * max_movement_time/(stopTime - nowTime)