From 36dcc8cd9b37c90fd0ce71899114c3dbae379b08 Mon Sep 17 00:00:00 2001
From: Maximilian Noethe <maximilian.noethe@tu-dortmund.de>
Date: Fri, 17 Jul 2015 23:07:04 +0200
Subject: [PATCH 1/2] add run-direct support

---
 ev3/ev3dev.py | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/ev3/ev3dev.py b/ev3/ev3dev.py
index 42c051d..3e51a7f 100755
--- a/ev3/ev3dev.py
+++ b/ev3/ev3dev.py
@@ -360,6 +360,21 @@ def run_forever(self, speed_sp, **kwargs):
         self.setup_forever(speed_sp, **kwargs)
         self.start()
 
+
+    def setup_direct(self, duty_cycle_sp, **kwargs):
+        self.mode = 'run-forever'
+        for k in kwargs:
+            v = kwargs[k]
+            if (v != None):
+                setattr(self, k, v)
+        self.duty_cycle_sp = int(duty_cycle_sp)
+
+
+    def run_direct(self, duty_cycle_sp, **kwargs):
+        self.setup_forever(duty_cycle_sp, **kwargs)
+        self.start()
+
+
     def setup_time_limited(self, time_sp, speed_sp, **kwargs):
         self.mode = 'run-timed'
         for k in kwargs:
@@ -373,10 +388,12 @@ def setup_time_limited(self, time_sp, speed_sp, **kwargs):
             self.duty_cycle_sp = int(speed_sp)
         self.time_sp = int(time_sp)
 
+
     def run_time_limited(self, time_sp, speed_sp,  **kwargs):
         self.setup_time_limited(time_sp, speed_sp, **kwargs)
         self.start()
 
+
     def setup_position_limited(self, position_sp, speed_sp, absolute=True, **kwargs):
         if absolute == True:
             self.mode = 'run-to-abs-pos'
@@ -390,6 +407,7 @@ def setup_position_limited(self, position_sp, speed_sp, absolute=True, **kwargs)
         self.speed_sp = int(speed_sp)
         self.position_sp = int(position_sp)
 
+
     def run_position_limited(self, position_sp, speed_sp,  **kwargs):
         self.setup_position_limited(position_sp, speed_sp, **kwargs)
         self.start()

From 4aef0c6a72e36c612ff75dbfb3a652991c6de24b Mon Sep 17 00:00:00 2001
From: Maximilian Noethe <maximilian.noethe@tu-dortmund.de>
Date: Mon, 3 Aug 2015 15:03:33 +0200
Subject: [PATCH 2/2] use correct seupt function

---
 ev3/ev3dev.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ev3/ev3dev.py b/ev3/ev3dev.py
index 3e51a7f..8cba9e5 100755
--- a/ev3/ev3dev.py
+++ b/ev3/ev3dev.py
@@ -371,7 +371,7 @@ def setup_direct(self, duty_cycle_sp, **kwargs):
 
 
     def run_direct(self, duty_cycle_sp, **kwargs):
-        self.setup_forever(duty_cycle_sp, **kwargs)
+        self.setup_direct(duty_cycle_sp, **kwargs)
         self.start()