Mercurial > Kubik

changeset 125:beae597e5fa0

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only move legs if they are not home already
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Tue, 08 Jul 2014 23:44:50 +0200
parents 4aa7616a630e
children afdfb00b79ff
files kubik.py
diffstat 1 files changed, 11 insertions(+), 9 deletions(-) [+]
line wrap: on
line diff
--- a/kubik.py	Tue Jul 08 23:41:47 2014 +0200
+++ b/kubik.py	Tue Jul 08 23:44:50 2014 +0200
@@ -158,15 +158,17 @@
     def _home(self):
         """Move all legs to their initial position."""
         for leg in self.legs:
-            leg.move_to((None, None, 5))
-            for i in range(4):
-                yield
-            leg.move_to((30, -30 * leg.y_direction, None))
-            for i in range(4):
-                yield
-            leg.move_to((None, None, -34))
-            for i in range(4):
-                yield
+            x, y, z = leg.position
+            if (x, y) != (30, -30 * leg.y_direction):
+                leg.move_to((None, None, 5))
+                for i in range(4):
+                    yield
+                leg.move_to((30, -30 * leg.y_direction, None))
+                for i in range(4):
+                    yield
+                leg.move_to((None, None, -34))
+                for i in range(4):
+                    yield
             leg.move_to((None, None, -35))
 
     def home(self):