#A single motor at current speed
a= cscan(m1, (ai1,ai2), -2, 2 , steps=100, relative=True) 


#A single motor in a given time 
a= cscan(m1, (ai1,ai2), -2.0, 3.0, steps=100 ,time = 4.0, relative=True) 

#Multiple motors in a given time 
a= cscan((m1, m2), (ai1,ai2), (-2.0, -3), (3.0, 5.0), steps=100,time = 4.0, relative=True)