From 86a9dd4311d45fec1edccfb6f0d3a2a08ccb46c0 Mon Sep 17 00:00:00 2001
From: "L. Bogner" <lars.bogner@outlook.de>
Date: Sat, 18 May 2019 21:43:05 +0200
Subject: [PATCH] bug fix

---
 RobotLib.py          | 2 ++
 databaseCreatorv2.py | 2 +-
 terminalControl.py   | 3 ++-
 3 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/RobotLib.py b/RobotLib.py
index a345440..ee379e5 100644
--- a/RobotLib.py
+++ b/RobotLib.py
@@ -33,6 +33,7 @@ class Robot:
 
         def _calc_previous(self):
             if self.previous_servos:
+                self.total_angle_deg = 0
                 for servo in self.previous_servos:
                     self.total_angle_deg += servo.deg
                 self.delta = self.deg + self.previous_servos[-1].deg
@@ -40,6 +41,7 @@ class Robot:
                     self.delta *= -1
             else:
                 self.delta = self.deg
+                self.total_angle_deg = self.deg
             self.total_angle_rad = self._get_rad(self.total_angle_deg)
 
         def set_angle(self, angle):
diff --git a/databaseCreatorv2.py b/databaseCreatorv2.py
index 1993fb4..5caad1d 100644
--- a/databaseCreatorv2.py
+++ b/databaseCreatorv2.py
@@ -34,7 +34,7 @@ test = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
              Robot.Servo(2, Robot.Servo.Geometry(2.5, 0.55, 1.55)),
              Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)),
              Robot.CoordinateSystem([-100, 100], [-100, 100]))
-test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, 9),
+test.init_depending(Robot.Arm(test.servo1, 10.26, 0.84), Robot.Arm(test.servo2, 9.85), Robot.Arm(test.servo3, 12, -3),
                     None, [test.servo1], [test.servo1, test.servo2])
 
 looper = Looper(test)
diff --git a/terminalControl.py b/terminalControl.py
index 69fefb4..6104600 100644
--- a/terminalControl.py
+++ b/terminalControl.py
@@ -14,7 +14,7 @@ joy_it = Robot(Robot.Servo(1, Robot.Servo.Geometry(0.55, 2.3, 1.4)),
                Robot.Servo(3, Robot.Servo.Geometry(0.7, 2.25, 2.25)),
                Robot.CoordinateSystem([-100, 100], [-100, 100]))
 joy_it.init_depending(Robot.Arm(joy_it.servo1, 10.26, 0.84), Robot.Arm(joy_it.servo2, 9.85),
-                      Robot.Arm(joy_it.servo3, 12, 9), None, [joy_it.servo1], [joy_it.servo1, joy_it.servo2])
+                      Robot.Arm(joy_it.servo3, 12, -3), None, [joy_it.servo1], [joy_it.servo1, joy_it.servo2])
 
 # the values for all the servos (are different for each robot)
 servo0min = 0.5
@@ -25,6 +25,7 @@ servo4max = 2.5
 servo4mid = 1.5
 servo0actual = 0
 
+
 class argvReader:
     def __init__(self, argv):
         self.argv = argv