1 files changed, 9 insertions, 0 deletions
diff --git a/System/motor.py b/System/motor.py
index b22dbe2..427d393 100755..100644
--- a/System/motor.py
+++ b/System/motor.py
@@ -2,6 +2,7 @@
 
 # Import required modules
 import RPi.GPIO as GPIO
+from time import sleep
 
 # Constants: parameters that the caller cannot modify
 # Frequency: We have determined that the optimal frequency for our motor is 1kHz
@@ -22,11 +23,15 @@ class Motor:
         GPIO.setup(self.reverse_pin, GPIO.OUT)
         # Set speed pin as a PWM output
         self.speed_pwm = GPIO.PWM(speed_pin, pwm_frequency)
+        self.current_speed = 0.
     # END __init__
         
     # Move the motor at a given speed, given as a floating point percentage (-100 <= x <= 100)
     # If speed is less than 0, motor will run in reverse, otherwise it will run forward
     def move(self, speed):
+        if speed == self.current_speed:
+            # do not attempt to readjust speed; this can cause erratic behavior
+            return
         if speed < -100.0 or speed > 100.0:
             return
         # Stop any previous movements
@@ -43,6 +48,8 @@ class Motor:
             GPIO.output(self.reverse_pin, GPIO.LOW)
         # Start the PWM output to start moving the motor
         self.speed_pwm.start(abs(speed))
+        self.current_speed = speed
+        sleep((1./pwm_frequency) * 3)
     # END Move
     
     # Stop the motor from spinning.
@@ -53,6 +60,7 @@ class Motor:
         # Set the direction outputs to brake
         GPIO.output(self.forward_pin, GPIO.HIGH)
         GPIO.output(self.reverse_pin, GPIO.HIGH)
+        self.current_speed = 0.
     # END Brake
         
     # Set the motor to coast (i.e. Do not provide power to the motor, but still allow it to spin)
@@ -63,5 +71,6 @@ class Motor:
         # Set the direction outputs to coast
         GPIO.output(self.forward_pin, GPIO.LOW)
         GPIO.output(self.reverse_pin, GPIO.LOW)
+        self.current_speed = 0.
     # END Coast
     
 \ No newline at end of file