{"action":"created","comment":{"url":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/pulls/comments/129599636","pull_request_review_id":52390505,"id":129599636,"diff_hunk":"@@ -53,34 +57,37 @@ def main():\n             if not mode in ('lin_ang', 'setpoints'):\n                 print help_msg\n                 sys.exit()\n+    logger.info(\"Start\")\n     # Create an instance of SerMesProtocol and check connection to port.\n     my_serial = messenger.connect_and_check(robot_id)\n-    my_robot = RobotController(robot_id)\n+    # my_robot = RobotController(robot_id)\n     if mode == 'lin_ang':\n         # Equation degrees linear velocity 2 and angular velocity 2.\n-        left_solver = PolySpeedSolver(coefs=(117.1, 0.334, 36.02, 0.00002422,\n-                                             -0.4208, 22.21))\n-        right_solver = PolySpeedSolver(coefs=(141, 0.0902, -94.88, 0.0004565,\n-                                              0.6557, 22.59))\n+        left_solver = PolySpeedSolver(coefs=(120.5, -0.2614, -93.01, 0., 0.8996,\n+                                             11.93))\n+        right_solver = PolySpeedSolver(coefs=(134.5, 0.2614, 93.01, 0., -0.8996,\n+                                              -11.93))","path":"uvispace/uvirobot/resources/speedstudy.py","position":30,"original_position":30,"commit_id":"a98226bded1ed00e97b54c21350290384f3b691c","original_commit_id":"a98226bded1ed00e97b54c21350290384f3b691c","user":{"login":"jlrandulfe","id":21103514,"avatar_url":"https://avatars0.githubusercontent.com/u/21103514?v=4","gravatar_id":"","url":"https://api.github.com/users/jlrandulfe","html_url":"https://github.com/jlrandulfe","followers_url":"https://api.github.com/users/jlrandulfe/followers","following_url":"https://api.github.com/users/jlrandulfe/following{/other_user}","gists_url":"https://api.github.com/users/jlrandulfe/gists{/gist_id}","starred_url":"https://api.github.com/users/jlrandulfe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jlrandulfe/subscriptions","organizations_url":"https://api.github.com/users/jlrandulfe/orgs","repos_url":"https://api.github.com/users/jlrandulfe/repos","events_url":"https://api.github.com/users/jlrandulfe/events{/privacy}","received_events_url":"https://api.github.com/users/jlrandulfe/received_events","type":"User","site_admin":false},"body":"If the coefficientes are stored at the config file... shouldn't they be obtained from there, instead of writing them by hand at the code?","created_at":"2017-07-26T15:05:58Z","updated_at":"2017-07-26T15:16:34Z","html_url":"https://github.com/UviDTE-UviSpace/UviSpace/pull/17#discussion_r129599636","pull_request_url":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/pulls/17","_links":{"self":{"href":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/pulls/comments/129599636"},"html":{"href":"https://github.com/UviDTE-UviSpace/UviSpace/pull/17#discussion_r129599636"},"pull_request":{"href":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/pulls/17"}}},"pull_request":{"url":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/pulls/17","id":132014722,"html_url":"https://github.com/UviDTE-UviSpace/UviSpace/pull/17","diff_url":"https://github.com/UviDTE-UviSpace/UviSpace/pull/17.diff","patch_url":"https://github.com/UviDTE-UviSpace/UviSpace/pull/17.patch","issue_url":"https://api.github.com/repos/UviDTE-UviSpace/UviSpace/issues/17","number":17,"state":"open","locked":false,"title":"Implementation of mode of movement. 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