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authorRaspberry Pi <raspberrypi@umn.edu>2019-11-20 01:22:22 -0600
committerRaspberry Pi <raspberrypi@umn.edu>2019-11-20 01:22:22 -0600
commitcaa2d9c446f5901671d30e52b1aaa4c56ef2f25c (patch)
treee541778f97d291c6bc4f160b4ec8cd9d24d538fb
parentFixed encoder zeroing. Other minor changes, still trying to get the swingup c... (diff)
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Rework directory structure. Modify result file printing to match requirements of web server.
-rw-r--r--.gitignore3
-rw-r--r--System/__init__.py (renamed from System_Python/__init__.py)0
-rw-r--r--System/encoder.py (renamed from System_Python/encoder.py)0
-rw-r--r--System/homework8.ipynb (renamed from System_Python/homework8.ipynb)0
-rw-r--r--System/initialize_system.py (renamed from System_Python/initialize_system.py)0
-rw-r--r--System/motor.py (renamed from System_Python/motor.py)0
-rw-r--r--System/swingUp.py (renamed from System_Python/swingUp.py)0
-rw-r--r--System/system.py (renamed from System_Python/system.py)3
-rw-r--r--System/system_swingup_test.py (renamed from System_Python/system_swingup_test.py)0
-rw-r--r--System/test_Encoder.py (renamed from System_Python/test_Encoder.py)2
-rw-r--r--System/test_Motor.py (renamed from System_Python/test_Motor.py)0
-rw-r--r--System/test_Return_Home.py (renamed from System_Python/test_Return_Home.py)0
-rw-r--r--System/test_System.py (renamed from System_Python/test_System.py)10
13 files changed, 11 insertions, 7 deletions
diff --git a/.gitignore b/.gitignore
index 894a44c..3a96937 100644
--- a/.gitignore
+++ b/.gitignore
@@ -102,3 +102,6 @@ venv.bak/
# mypy
.mypy_cache/
+
+# Results
+Results/*.csv
diff --git a/System_Python/__init__.py b/System/__init__.py
index e69de29..e69de29 100644
--- a/System_Python/__init__.py
+++ b/System/__init__.py
diff --git a/System_Python/encoder.py b/System/encoder.py
index ece7fd1..ece7fd1 100644
--- a/System_Python/encoder.py
+++ b/System/encoder.py
diff --git a/System_Python/homework8.ipynb b/System/homework8.ipynb
index a9c28c9..a9c28c9 100644
--- a/System_Python/homework8.ipynb
+++ b/System/homework8.ipynb
diff --git a/System_Python/initialize_system.py b/System/initialize_system.py
index 4eb287a..4eb287a 100644
--- a/System_Python/initialize_system.py
+++ b/System/initialize_system.py
diff --git a/System_Python/motor.py b/System/motor.py
index b22dbe2..b22dbe2 100644
--- a/System_Python/motor.py
+++ b/System/motor.py
diff --git a/System_Python/swingUp.py b/System/swingUp.py
index f14ef37..f14ef37 100644
--- a/System_Python/swingUp.py
+++ b/System/swingUp.py
diff --git a/System_Python/system.py b/System/system.py
index c6145ce..58ba541 100644
--- a/System_Python/system.py
+++ b/System/system.py
@@ -6,6 +6,7 @@ from datetime import datetime
from time import sleep
import RPi.GPIO as GPIO
import sys
+import os
# IO pin definitions
### Motor pins
@@ -67,7 +68,7 @@ class System:
# Create and setup results file (to be sent back to the server and displayed/downloaded to the user)
# Results file is a CSV with the following entries: angle, position, speed
- self.result_filename = "/home/pi/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ self.result_filename = "Results/" + os.path.basename(sys.argv[0]).split('.')[0] + "_results.csv"
result_file = open(self.result_filename, "w+")
result_file.write("angle(" + angular_units + "),position(inches),speed(percentage)\n")
diff --git a/System_Python/system_swingup_test.py b/System/system_swingup_test.py
index e13c7ca..e13c7ca 100644
--- a/System_Python/system_swingup_test.py
+++ b/System/system_swingup_test.py
diff --git a/System_Python/test_Encoder.py b/System/test_Encoder.py
index b667cc1..9a2119a 100644
--- a/System_Python/test_Encoder.py
+++ b/System/test_Encoder.py
@@ -3,7 +3,7 @@ import time
# Decide which pins to hook up to on the Pi before running
clk_pin = 2
-cs_pin = 4
+cs_pin = 14
data_pin = 3
e = Encoder(clk_pin, cs_pin, data_pin)
diff --git a/System_Python/test_Motor.py b/System/test_Motor.py
index 80cff1e..80cff1e 100644
--- a/System_Python/test_Motor.py
+++ b/System/test_Motor.py
diff --git a/System_Python/test_Return_Home.py b/System/test_Return_Home.py
index 244f99f..244f99f 100644
--- a/System_Python/test_Return_Home.py
+++ b/System/test_Return_Home.py
diff --git a/System_Python/test_System.py b/System/test_System.py
index 32ff56d..21ed336 100644
--- a/System_Python/test_System.py
+++ b/System/test_System.py
@@ -10,12 +10,12 @@ def control_function(angle):
return (abs(angle) / 180.0) * 100.0
# Main program
-sys = System()
+sys = System(angular_units = 'Radians')
while 1:
angle, linear = sys.measure()
- #print(angle)
- speed = control_function(angle)
+ print(angle)
+ """speed = control_function(angle)
print(speed)
- sys.adjust(speed)
+ sys.adjust(speed)"""
time.sleep(0.05)
- \ No newline at end of file
+