Rev 4714 Rev 4715
Line 189... Line 189...
189 while True: # set maximal motor speed 189 while True: # set maximal motor speed
190 key = pylirc.nextcode() ## preccessing the IR remote control commands. 190 key = pylirc.nextcode() ## preccessing the IR remote control commands.
191   191  
192 if key == ['start']: 192 if key == ['start']:
193 running = True 193 running = True
-   194 direction = True
194 requested_speed = SPEED 195 requested_speed = SPEED
195   196  
196 if key == ['faster']: 197 if key == ['faster']:
197 running = True 198 running = True
-   199 direction = True
198 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed 200 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed
199   201  
200 if key == ['slower']: 202 if key == ['slower']:
201 running = True 203 running = True
-   204 direction = False
202 requested_speed = SPEED * -1.2 205 requested_speed = SPEED * 0.2
203   206  
204 if key == ['stop']: 207 if key == ['stop']:
205 running = False 208 running = False
206   209  
207 time.sleep(0.1) 210 time.sleep(0.1)
208   211  
209 if running == True: 212 if running == True:
210 real_speed = X.Run(1, requested_speed) 213 real_speed = X.Run(direction, requested_speed)
211 print "Motor running at: %f steps/s" % real_speed 214 print "Motor running at: %f steps/s" % real_speed
212 else: 215 else:
213 X.Reset() 216 X.Reset()
214 X.Initialize() 217 X.Initialize()
215 X.Float(hard=False) # release power 218 X.Float(hard=False) # release power