testy.py

from modules import Robot
import time
r = Robot.Robot()
print ' absolute 60deg '
r.M1.run_mode='position'
r.M1.position_mode='absolute'
r.M1.regulation_mode = True
r.M1.pulses_per_second_sp = 300
r.M1.position_sp = r.M1.position + 60
r.M1.start()
r.T.play(440,100)
time.sleep(1)
print 'absolute -60deg' 
r.M1.pulses_per_second_sp = -300
r.M1.position_sp = r.M1.position - 60
r.M1.start()
r.T.play(440,100)
time.sleep(1)
print 'relative 60deg '
r.M1.position_mode = 'relative'
r.M1.position = 0
r.M1.position_sp = 60 
r.M1.start()
r.T.play(440,100)
time.sleep(1)
print 'relative -60deg'
r.M1.position = 0
r.M1.position_sp = -60 
r.M1.start()
r.T.play(440,100)
time.sleep(1)

r.M2.run_mode='position'
r.M2.position_mode = 'relative'
r.M2.regulation_mode = True
r.M2.position = 0
r.M1.position = 0
r.M2.position_sp = 600 
r.M1.position_sp = 600 
r.M1.pulses_per_second_sp = 300
r.M2.pulses_per_second_sp = 300
r.M2.start()
r.M1.start()