Commits

Anonymous committed 9690ae0

Swinging and gains maybe work...

Comments (0)

Files changed (2)

 		for channel in ['1','2']:
 			self.send("^CLERD " + channel + " 0")
 			time.sleep(0.1)
-			self.send("^KP " + channel + " 15")
+			self.send("^KP " + channel + " 20")
 			time.sleep(0.1)
-			self.send("^KD " + channel + " 25")
-			time.sleep(0.1)
-			self.send("^KI " + channel + " 1")
+			self.send("^KD " + channel + " 60")
 			time.sleep(0.1)
 			self.send("^KI " + channel + " 0")
 			time.sleep(0.1)
 			self.send("!s " + channel + " 4000")
 			time.sleep(0.1)
-			self.send("!ac " + channel + " 60000")
+			self.send("!ac " + channel + " 40000")
 			time.sleep(0.1)
-			self.send("!dc " + channel + " 60000")
+			self.send("!dc " + channel + " 40000")
 			time.sleep(0.1)
 
 		# Configure the telemetry stream
 		self.sock.send(cmd + "\r\n")
 
 	def home(self):
-		self.move_raw(2000, [0,0,0,0,0,0])
+		self.move_raw(10000, [0,0,0,0,0,0])
 	def start(self):
-		self.move_raw(2000, [4552, 3893, -16821, 23999, -11607, -4646])
+		self.move_raw(10000, [4552, 3893, -16821, 23999, -11607, -4646])
 
 	def swing(self, speed):
 		cur = self.counts[5]
-		self.moveto(6, cur + 10000, 1000)
-		time.sleep(1)
-		self.moveto(6, cur - 10000, speed)
-		time.sleep(1)
+		self.moveto(6, cur + 20000, 1000)
+		time.sleep(2)
+		self.moveto(6, cur - 20000, speed)
+		time.sleep(3)
 		self.moveto(6, cur, 1000)
 
 	# Move immediately to an explicit IK computed position
 			r.start()
 			continue
 		if line == "swing":
-			r.swing(30000)
+			r.swing(20000)
 			continue
 		if line == "hold":
 			r.move_raw(1000, r.counts)