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authorlake0112 <lake0112@umn.edu>2022-02-24 16:36:07 -0600
committerlake0112 <lake0112@umn.edu>2022-02-24 16:36:07 -0600
commitd6f8b2ff03e372f40d61a20a75eece48816b4480 (patch)
treeb5f72cf4584bfc996e4405eca2911d2a9eb261a4
parentadd soft limit (diff)
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try again
Diffstat (limited to '')
-rw-r--r--System/pendulum/system.py4
1 files changed, 2 insertions, 2 deletions
diff --git a/System/pendulum/system.py b/System/pendulum/system.py
index 7dd038a..e1cef2f 100644
--- a/System/pendulum/system.py
+++ b/System/pendulum/system.py
@@ -76,8 +76,6 @@ class System:
# By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
#self.negative_soft_limit = negative_limit
#self.positive_soft_limit = positive_limit
- self.negative_soft_limit = -15
- self.positive_soft_limit = 15
# If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit:
print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
@@ -158,6 +156,8 @@ class System:
# Re-enable the limit switch interrupts
GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback, bouncetime=300)
GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)
+ self.negative_soft_limit = -15
+ self.positive_soft_limit = 15
print("Finished the initialize func")
# END initialize