# cpr encoder 8096 length: 112816
full_length = 56427
restricted_length = 10000
middle = full_length / 2
axis.set_vel_limit(250000)
switch = True
try:
while True:
pos = axis.get_pos()
if pos > -(full_length -
restricted_length) and joystick.get_axis('y') < -.05:
if switch:
print("right")
switch = False
axis.set_vel(50000 * joystick.get_axis('y'))
elif pos < -restricted_length and joystick.get_axis('y') > .05:
if not switch:
print("left")
switch = True
axis.set_vel(50000 * joystick.get_axis('y'))
else:
axis.set_vel(0)
if joystick.button_combo_check([6]):
middle = full_length / 2
restricted_length = 20000
# sets the maximum speed the ODrive can go, default set to 20,000
axis.set_vel_limit(495000)
vel_speed = 100000
switch = True
try:
while True:
pos = axis.get_pos()
if pos < (full_length -
restricted_length) and joystick.get_axis('y') < -.05:
if switch:
sleep(.05)
print("up")
switch = False
axis.set_vel(vel_speed * -joystick.get_axis('y'))
elif pos > restricted_length and joystick.get_axis('y') > .05:
if not switch:
sleep(.05)
print("down")
switch = True
axis.set_vel(vel_speed * -joystick.get_axis('y'))
else:
axis.set_vel(0)