Add interrupt flags so that motor cannot be triggered once the HW interrupt has been fired. This should help with the occasional issue where the ISR thread is interrupted and moves back to the primary thread where movements continue.

May need to add another line in adjust() that if interrupted==True then coast the motor (not sure what the ramifications of this would be though: if in the process of going home and thread switches back, it might not get all the way home...)

1 files changed, 16 insertions, 12 deletions

diff --git a/System/system.py b/System/system.py
index ce1d55e..dab8c06 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")