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