Measured linear movement from physical system. Slightly modified test_Motor to test on physical system.

2 files changed, 9 insertions, 11 deletions

diff --git a/System_Python/system.py b/System_Python/system.py
index 1e532fa..ff38628 100644
--- a/System_Python/system.py
+++ b/System_Python/system.py
@@ -44,8 +44,7 @@ class System:
         angular_position = self.encoder_angular.read_position('Degrees')

         if angular_position > 180:

             angular_position = angular_position - 360

-        #linear_position = self.encoder_linear.read_position()

-        linear_position = 0

+        linear_position = self.encoder_linear.read_position()

         return (angular_position, linear_position)

     # END measure()

     

@@ -70,7 +69,7 @@ class System:
 # This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.

 # The function definitions here are the same as with the regular encoder (pseudo-interface).

 class Linear_Encoder:

-    DIAMETER = 4.0 # MEASURE THIS

+    PROPORTION = 14.5

     

     def __init__(self, clk_pin, cs_pin, data_pin):

         self.encoder = Encoder(clk_pin, cs_pin, data_pin)

@@ -95,8 +94,7 @@ class Linear_Encoder:
                 # We are moving to the left (negative) and have completed a new rotation

                 self.rotations = self.rotations - 1

         # Save the last position for the next calculation

-        self.last_position = position

-            

+        self.last_position = position 

         # compute the position based on the system parameters

         # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)

-        return (math.pi*DIAMETER)*(self.rotations + position/1024)

+        return (PROPORTION)*(self.rotations + position/1024)

diff --git a/System_Python/test_Motor.py b/System_Python/test_Motor.py
index 99db520..80cff1e 100644
--- a/System_Python/test_Motor.py
+++ b/System_Python/test_Motor.py
@@ -11,13 +11,13 @@ m = Motor(speed_pin, forward_pin, reverse_pin)
 dir = 'ascending'

 speed = 0.0

 while 1:

-    m.move(speed)

-    if speed >= 100.0:

+    if speed >= 15.0:

         dir = 'descending'

-    elif speed <= -100.0:

+    elif speed <= -15.0:

         dir = 'ascending'

     if dir == 'ascending':

-        speed = speed + 0.5

+        speed = speed + 2.0

     else:

-        speed = speed - 0.5

+        speed = speed - 2.0

+    m.move(speed)

     time.sleep(0.1)
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