From 24a77aac88b0273fda0a3006efd64d400e5fe0dc Mon Sep 17 00:00:00 2001
From: Shunsuke Adachi <38268229+sadachi5@users.noreply.github.com>
Date: Thu, 30 Nov 2023 00:20:31 +0900
Subject: [PATCH] Fix bug in speed_rate limitation in
 wiregrid_actuator/drivers/Actuator.py (#579)

* update wiregrid_actuator.rst

* add speedrate parameter in insert/eject() in wiregrid_actuator
---
 docs/agents/wiregrid_actuator.rst                 | 7 ++++---
 socs/agents/wiregrid_actuator/drivers/Actuator.py | 8 ++++----
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/docs/agents/wiregrid_actuator.rst b/docs/agents/wiregrid_actuator.rst
index 1bcfba852..280b2b2e4 100644
--- a/docs/agents/wiregrid_actuator.rst
+++ b/docs/agents/wiregrid_actuator.rst
@@ -77,6 +77,10 @@ The main functions are ``insert()`` and ``eject()``.
 In the both of the functions, after the inserting/ejecting, the stopper locks the actuators again.
 However, the motor power is not turned ON or OFF during the both functions.
 
+The parameter details are here:
+
+- speedrate: Actuator speed rate [0.0, 5.0] (default: 1.0)
+
 **Test Functions**
  - check_limitswitch(): Check ON/OFF of the limit switches
  - check_stopper(): Check ON/OFF (lock/unlock) of the stoppers
@@ -100,9 +104,6 @@ The parameter details are here:
 - distance: Actuator moving distance [mm] (default: 10)
 - speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)
 
-.. warning::
-  DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
-
 
 Hardware Configurations
 ```````````````````````
diff --git a/socs/agents/wiregrid_actuator/drivers/Actuator.py b/socs/agents/wiregrid_actuator/drivers/Actuator.py
index 12265c048..ed5c23b44 100644
--- a/socs/agents/wiregrid_actuator/drivers/Actuator.py
+++ b/socs/agents/wiregrid_actuator/drivers/Actuator.py
@@ -212,12 +212,12 @@ def move(self, distance, speedrate=0.1):
             msg = 'Actuator:move(): WARNING!: Did NOT move due to STOP flag.'
             print(msg)
             return False
-        if speedrate < 0. or speedrate > 1.:
+        if speedrate < 0. or speedrate > 5.:
             print('Actuator:move(): WARNING!: '
-                  'Speedrate should be between 0 and 1.')
+                  'Speedrate should be between 0 and 5.')
             print('Actuator:move(): WARNING!: '
-                  'Speedrate is sed to 0.1.')
-            speedrate = 0.1
+                  'Speedrate is set to 1.0.')
+            speedrate = 1.0
         speed = \
             int(speedrate * (self.speed_max - self.speed_min) + self.speed_min)
         # distance_count is an absolute value