Rev 4654 Rev 4714
Line 53... Line 53...
53 self.spi.xfer([0x10]) 53 self.spi.xfer([0x10])
54 self.spi.xfer([0x06]) # DEC 54 self.spi.xfer([0x06]) # DEC
55 self.spi.xfer([0x00]) 55 self.spi.xfer([0x00])
56 self.spi.xfer([0x10]) 56 self.spi.xfer([0x10])
57 self.spi.xfer([0x0A]) # KVAL_RUN 57 self.spi.xfer([0x0A]) # KVAL_RUN
58 self.spi.xfer([0x50]) 58 self.spi.xfer([0x20])
59 self.spi.xfer([0x0B]) # KVAL_ACC 59 self.spi.xfer([0x0B]) # KVAL_ACC
60 self.spi.xfer([0x50]) 60 self.spi.xfer([0x20])
61 self.spi.xfer([0x0C]) # KVAL_DEC 61 self.spi.xfer([0x0C]) # KVAL_DEC
62 self.spi.xfer([0x50]) 62 self.spi.xfer([0x20])
63 self.spi.xfer([0x18]) # CONFIG 63 self.spi.xfer([0x18]) # CONFIG
64 self.spi.xfer([0b00111000]) 64 self.spi.xfer([0b00111000])
65 self.spi.xfer([0b00000110]) 65 self.spi.xfer([0b00000110])
66 66
67 def MaxSpeed(self, speed): 67 def MaxSpeed(self, speed):
Line 197... Line 197...
197 running = True 197 running = True
198 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed 198 requested_speed = SPEED * 1.2 # runnig the motor at 120% of the base motor speed
199   199  
200 if key == ['slower']: 200 if key == ['slower']:
201 running = True 201 running = True
202 requested_speed = SPEED * 0.8 202 requested_speed = SPEED * -1.2
203   203  
204 if key == ['stop']: 204 if key == ['stop']:
205 running = False 205 running = False
206   206  
207 time.sleep(0.1) 207 time.sleep(0.1)
Line 221... Line 221...
221 sys.exit(0) 221 sys.exit(0)
222   222  
223 except Exception, e: 223 except Exception, e:
224 X.Float(hard=False) # release power 224 X.Float(hard=False) # release power
225 print >> sys.stderr, "Exception: %s" % str(e) 225 print >> sys.stderr, "Exception: %s" % str(e)
226 sys.exit(1) -  
227 226 sys.exit(1)
-   227