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toggling min and max soft limit on switching rotary

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This commit is contained in:
sanjayk03-dev
2025-01-19 23:57:26 +05:30
parent 800d606fc9
commit e17a30d19d
3 changed files with 54 additions and 5 deletions
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13
src/py/bbctrl/Web.py
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@@ -639,6 +639,19 @@ class RotaryHandler(bbctrl.APIHandler):
motor_2["axis"] = "Y" if is_axis_A else "A"
motor_1["max-velocity"] *= 2 if is_axis_A else 0.5
if is_axis_A:
if 'min-soft-limit-backup' in motor_2 and 'max-soft-limit-backup' in motor_2:
motor_2['min-soft-limit'] = motor_2['min-soft-limit-backup']
motor_2['max-soft-limit'] = motor_2['max-soft-limit-backup']
else:
raise ValueError("Backup soft limits are missing for motor_2.")
else:
motor_2['min-soft-limit-backup'] = motor_2['min-soft-limit']
motor_2['max-soft-limit-backup'] = motor_2['max-soft-limit']
motor_2['min-soft-limit'] = -720
motor_2['max-soft-limit'] = 720
config.save(config_data)
except FileNotFoundError: