From c22a740e1394392e916bf6610282a27e4ca4b2da Mon Sep 17 00:00:00 2001
From: ketrptr <ketrptr@cocaine.ninja>
Date: Fri, 28 Mar 2025 17:11:49 +0100
Subject: [PATCH]  test

---
 __pycache__/meControll.cpython-313.pyc | Bin 3535 -> 3614 bytes
 meControll.py                          |   1 +
 servoTest/servoTest.ino                |   4 +--
 testSequence1                          |   2 ++
 testSequence1.py                       |  35 +++++++++++++++++++++++++
 5 files changed, 40 insertions(+), 2 deletions(-)
 create mode 100644 testSequence1
 create mode 100644 testSequence1.py

diff --git a/__pycache__/meControll.cpython-313.pyc b/__pycache__/meControll.cpython-313.pyc
index 3004f9940a2789f1626a10e508146d3de0424b2f..c1a97bef391d828a7085643294468a67c5f54644 100644
GIT binary patch
delta 207
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zVoaEPio;X#BP)Z5@)tG+0pSTI)2$|2%}AbTf0<wT0>@@?&RRxBoy}9ZCNi?Jv#NX*
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u@iqhRT?Vo5Y=(>q9~pqehb%@07M_l(%gmCuxU3tTZgHi62<yqYyh#A*VK%n_

delta 188
zcmbOyb6%S7GcPX}0}%L5c$R*TZ6jYBJI4+ncPc|D<77V$g~@x^Co!f^uH~p=^q%~K
z!;|F`D}%`9D9&0&M(xcvxF#~Pva!m26`GvK<ITu5`5=#yaxpVdyN{_skt2`>bKETr
zid=vkP1Yh;AXVfrnVYxV${WaJ1S#nP5+9fu85wUg@ZMz*`_5*-sPK^iNPNg(WMJXx
YsJhH7d5g=s!RZ!PEQm0fyoWal02t{od;kCd

diff --git a/meControll.py b/meControll.py
index eb756a7..e73b573 100644
--- a/meControll.py
+++ b/meControll.py
@@ -38,6 +38,7 @@ class meArm:
         for cmd in self.moves[idx]:
             print(f"sending: {cmd}")
             self.sendCmd(cmd)
+        return len(self.moves[idx])
 
 
     def getPos(self):
diff --git a/servoTest/servoTest.ino b/servoTest/servoTest.ino
index 6aff4fa..02e91d4 100644
--- a/servoTest/servoTest.ino
+++ b/servoTest/servoTest.ino
@@ -55,7 +55,7 @@ void movePos(CMD dir) {
     int delta = servoPos[dir] - val;
     int inc;
     while (delta) {
-      if(dir!=T) inc = (abs(delta) > 20) ? constrain((abs(delta) / 10), 1, 10) : 1;
+      if(dir!=T) inc = (abs(delta) > 20) ? constrain((abs(delta) / 10), 1, 5) : 1;
       else inc =1;
       if (delta > 0) {
         axis[dir]->write(val + inc);
@@ -67,7 +67,7 @@ void movePos(CMD dir) {
         val -= inc;
       }
 
-      delay(30); // TODO  no delay
+      delay(20); // TODO  no delay
     }
   }
 }
diff --git a/testSequence1 b/testSequence1
new file mode 100644
index 0000000..8877192
--- /dev/null
+++ b/testSequence1
@@ -0,0 +1,2 @@
+from meController import meArm
+
diff --git a/testSequence1.py b/testSequence1.py
new file mode 100644
index 0000000..ed57849
--- /dev/null
+++ b/testSequence1.py
@@ -0,0 +1,35 @@
+import meControll
+
+arm = meControll.meArm()
+
+
+arm.getPos()
+
+
+getCube1 = [b'S1', b'T50', b'R100', b'L50', b'R120', b'L30', b'R140', b'G180', b'R100']
+getCube2 = [b'S1', b'T50', b'R100', b'L50', b'R120', b'L30', b'R140', b'L20', b'R160',  b'G180', b'R100']
+gotoDropoff = [b'S1', b'T140', b'R100', b'L40', b'R145', b'G90', b'R100',  b'D1']
+gotoDropoff2 = [b'S1', b'T140', b'R100', b'L50', b'R133', b'G90', b'R100',  b'D1']
+
+gotoCubePickup0 = getCube1[0:-2]
+
+saveHome = [b'S0', b'R-30', b'D1', b'S1']
+
+# getCube2 = [b'S1', b'T140', b'R100', b'L40', b'R145', b'G180', b'R100',  b'D1']
+
+arm.addMove(getCube1)
+arm.addMove(gotoDropoff)
+arm.addMove(getCube2)
+arm.addMove(gotoDropoff2)
+arm.addMove(gotoCubePickup0)
+arm.addMove(saveHome)
+print(f"Homing")
+arm.execMove(5)
+print(f"Move0: {arm.execMove(0)} moves")
+print(f"Move1: {arm.execMove(1)} moves")
+print(f"Move2: {arm.execMove(2)} moves")
+print(f"Move3: {arm.execMove(3)} moves")
+print(f"Move4: {arm.execMove(4)} moves")
+# arm.execMove(2)
+
+