#!/usr/bin/env python3

import armCtl as arm
from time import sleep

print("waking up the arm")
sleep(5)

print("going to seq_1")
arm.command("go seq_1")
while arm.r.isMoving():
    pass
print(arm.r.angle)

print("rotating base +20 degrees")
arm.r.target[0] += 20
arm.r.move()
while arm.r.isMoving():
    pass
print(arm.r.angle)

print("going to coordinates")
arm.r.target = [90, 120, 10, 95, 90, 90]
arm.r.move()
while arm.r.isMoving():
    pass
print(arm.r.angle)