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  #print cmd
  self.sock.send(cmd + "\r\n")
  + # Move one axis to a set of counts
  + def moveto(self, axis, count, vel):
  + cmd = "move," + str(int(axis)) + "," + str(int(count)) + "," + str(int(vel))
  + self.sock.send(cmd + "\r\n")
  +
  def home(self):
  self.move_raw(2000, [0,0,0,0,0,0])
  + def start(self):
  + self.move_raw(2000, [4552, 3893, -16821, 23999, -11607, -4646])
  + def swing(self, speed):
  + cur = self.counts[5]
  + self.moveto(6, cur + 10000, 1000)
  + time.sleep(1)
  + self.moveto(6, cur - 10000, speed)
  + self.moveto(6, cur, 1000)
  # Move immediately to an explicit IK computed position
  def move_ik(self, ms, xyz, a, s, n):
  cur_s = self.fk.s[:]
  cur_n = self.fk.n[:]
  - # Use a tool-down, face forward ASN
  - cur_a = [0,0,-1]
  - cur_s = [0,1,0]
  - cur_n = [-1,0,0]
  + # For the swinging tool on the left side of the board,
  + # the position is facing (approach) due X,
  + # sliding in Z and the normal to Y
  + cur_a = [1,0,0]
  + cur_s = [0,0,1]
  + cur_n = [0,1,0]
  dx = dst_xyz[0] - xyz[0]
  dy = dst_xyz[1] - xyz[1]
  if line == "home":
  r.home()
  continue
  + if line == "start":
  + r.start()
  + continue
  + if line == "swing":
  + r.swing(30000)
  if line == "hold":
  r.move_raw(1000, r.counts)
  r.last_xyz = False