puma / Puma.py

Diff from to
 	def home(self):
 		self.move_raw(10000, [0,0,0,0,0,0])
 	def start(self):
-		self.move_raw(10000, [4552, 3893, -16821, 23999, -11607, -4646])
+		self.move_raw(20000, [4552, 3893, -16821, 23999, -11607, -4646])
 	def swing(self, speed):
 		cur = self.counts[5]
 		self.moveto(6, cur + 20000, 1000)
-		time.sleep(2)
-		self.moveto(6, cur - 20000, speed)
+		self.moveto(6, cur - 30000, speed)
+		time.sleep(4)
 		self.moveto(6, cur, 1000)
 	# Move immediately to an explicit IK computed position
 		if line == "swing":
-			r.swing(20000)
+			r.swing(10000)
 		if line == "hold":
 			r.move_raw(1000, r.counts)
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