Update test files to do GPIO cleanup on completion (ex: encoders don't work if GPIO.cleanup is not performed). Add system destructor and add GPIO.cleanup to that too. Everything appears to be working still.

4 files changed, 37 insertions, 15 deletions

diff --git a/System/initialize_system.py b/System/initialize_system.py
index 4eb287a..6df880f 100755
--- a/System/initialize_system.py
+++ b/System/initialize_system.py
@@ -1,7 +1,9 @@
 # This file should be run on system startup. It will initialize the linear position to the center so that all tests originate from a proper position.

 # The center is found by using the hardware limit switches

 from system import System

+import RPi.GPIO as GPIO

         

 # Main program

 sys = System()

 sys.initialize()

+GPIO.cleanup()

diff --git a/System/system.py b/System/system.py
index 8dd9f38..7b2ffcf 100755
--- a/System/system.py
+++ b/System/system.py
@@ -20,7 +20,7 @@ encoder_data_pin = 3
 ### Angular encoder pins

 encoder_angular_cs_pin = 4

 ### Linear encoder pins

-encoder_linear_cs_pin = 14 

+encoder_linear_cs_pin = 14

 ### Limit switch pins (configured to PULLUP)

 limit_negative_pin = 19

 limit_positive_pin = 26

@@ -89,6 +89,13 @@ class System:
         self.encoder_thread.start()

     # END __init__()

     

+    # Destructor

+    # Brake the motor and call GPIO.cleanup as a last-chance of doing so

+    def __del__(self):

+        self.motor.brake()

+        GPIO.cleanup()

+    # END __del__()

+    

     def initialize(self):

         # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered

         GPIO.remove_event_detect(limit_negative_pin)

diff --git a/System/test_Encoder.py b/System/test_Encoder.py
index b667cc1..d0b7ef8 100755
--- a/System/test_Encoder.py
+++ b/System/test_Encoder.py
@@ -1,5 +1,6 @@
 from encoder import Encoder
 import time
+import RPi.GPIO as GPIO
 
 # Decide which pins to hook up to on the Pi before running
 clk_pin = 2
@@ -9,6 +10,12 @@ data_pin = 3
 e = Encoder(clk_pin, cs_pin, data_pin)
 e.set_zero()
 
-while(1):
-    print(e.read_position('Degrees'))
-    time.sleep(0.001)
\ No newline at end of file
+try:
+    while(1):
+        print(e.read_position('Degrees'))
+        time.sleep(0.001)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    # Perform GPIO cleanup. Things may get weird otherwise...
+    GPIO.cleanup()
diff --git a/System/test_Motor.py b/System/test_Motor.py
index 80cff1e..f48b6ee 100755
--- a/System/test_Motor.py
+++ b/System/test_Motor.py
@@ -1,5 +1,6 @@
 from motor import Motor

 import time

+import RPi.GPIO as GPIO

 

 # Decide which pins to hook up to on the Pi before running

 speed_pin = 17

@@ -10,14 +11,19 @@ m = Motor(speed_pin, forward_pin, reverse_pin)
 

 dir = 'ascending'

 speed = 0.0

-while 1:

-    if speed >= 15.0:

-        dir = 'descending'

-    elif speed <= -15.0:

-        dir = 'ascending'

-    if dir == 'ascending':

-        speed = speed + 2.0

-    else:

-        speed = speed - 2.0

-    m.move(speed)

-    time.sleep(0.1)
\ No newline at end of file
+try:

+    while 1:

+        if speed >= 15.0:

+            dir = 'descending'

+        elif speed <= -15.0:

+            dir = 'ascending'

+        if dir == 'ascending':

+            speed = speed + 2.0

+        else:

+            speed = speed - 2.0

+        m.move(speed)

+        time.sleep(0.1)

+except:

+    print("Program killed by Ctrl-C")

+finally:

+    GPIO.cleanup()
\ No newline at end of file