Merge remote-tracking branch 'origin/library_interrupt_flags'

2 files changed, 17 insertions, 12 deletions

diff --git a/System/System b/System/System
new file mode 120000
index 0000000..6a04314
--- /dev/null
+++ b/System/System
@@ -0,0 +1 @@
+./
\ No newline at end of file
diff --git a/System/system.py b/System/system.py
index ce1d55e..75573c5 100644
--- a/System/system.py
+++ b/System/system.py
@@ -51,6 +51,7 @@ class System:
         GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback)

         GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)

         GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback)

+        self.interrupted = False

         

         # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).

         # 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).

@@ -161,18 +162,19 @@ class System:
     #####      Negative values will move the pendulum to the left.

     #####      Positive values will move the pendulum to the right.

     def adjust(self, speed):

-        if speed != 0:

-            # cap the speed inputs

-            if speed > 100.:

-                speed = 100.

-            if speed < -100.:

-                speed = -100.

-            # change the motor speed

-            # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.

-            self.motor.coast()

-            self.motor.move(speed)

-        else:

-            self.motor.coast()

+        if self.interrupted == False:

+            if speed != 0:

+                # cap the speed inputs

+                if speed > 100.:

+                    speed = 100.

+                if speed < -100.:

+                    speed = -100.

+                # change the motor speed

+                # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.

+                self.motor.coast()

+                self.motor.move(speed)

+            else:

+                self.motor.coast()

     # END adjust()

     

     # Append data to the results file

@@ -209,6 +211,7 @@ class System:
     

     # Callback for when negative limit switch is triggered.

     def negative_limit_callback(self, channel):

+        self.interrupted = True

         self.motor.brake()

         # Print negative limit trigger to the results file.

         result_file = open(self.result_filename, "a")

@@ -219,6 +222,7 @@ class System:
     # END negative_limit_callback

     # Callback for when positive limit switch is triggered.

     def positive_limit_callback(self, channel):

+        self.interrupted = True

         self.motor.brake()

         # Print positive limit trigger to the results file.

         result_file = open(self.result_filename, "a")