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authordamic014 <damic014@umn.edu>2019-11-26 16:06:54 -0600
committerdamic014 <damic014@umn.edu>2019-11-26 16:06:54 -0600
commit28bb4d9deae556951a2406493ef26640d34ae0e9 (patch)
treee7505adbfed8406cfe6e827c77bff52328edd37f
parentAdded Andy's new swingup code. New issues with physical system: rod bearing k... (diff)
parentFix indentation, add symlink for System folder. Seems to be working as expect... (diff)
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Merge remote-tracking branch 'origin/library_interrupt_flags'
Diffstat (limited to '')
l---------System/System1
-rw-r--r--System/system.py28
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")