Beispiel #1
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    def limit_acceleration(self, acceleration):
        if acceleration == None:
            acceleration = self.calib['ACC_DEFAULT']
            return acceleration

        acceleration = ut.unipolar_limit(acceleration, self.calib['ACC_MAX'])

        return acceleration
Beispiel #2
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    def limit_velocity(self, velocity):
        if velocity == None:
            velocity = self.calib['VEL_DEFAULT']
            return velocity

        velocity = ut.unipolar_limit(velocity, self.calib['VEL_MAX'])

        return velocity
Beispiel #3
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    def limit_acceleration(self,acceleration):
        if acceleration == None:
            acceleration = self.calib['ACC_DEFAULT']
            return acceleration

        acceleration = ut.unipolar_limit(acceleration, 
                                     self.calib['ACC_MAX'])

        return acceleration
Beispiel #4
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    def limit_velocity(self,velocity):
        if velocity == None:
            velocity = self.calib['VEL_DEFAULT']
            return velocity

        velocity = ut.unipolar_limit(velocity, 
                                     self.calib['VEL_MAX'])

        return velocity
Beispiel #5
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    def limit_position(self, position):

        position = ut.unipolar_limit(position, self.calib['POS_MAX'])
        return position
Beispiel #6
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    def limit_position(self, position):

        position = ut.unipolar_limit(position, 
                                     self.calib['POS_MAX'])
        return position