Add System library and system test file. Still need to finalize some implementation details (linear encoder, motor orientation, etc.). Need to compile and test on RPi still.

Convert naming in other libraries to follow Python naming scheme.

5 files changed, 93 insertions, 8 deletions

diff --git a/System_Python/encoder.py b/System_Python/encoder.py
index b70fac6..4069a86 100644
--- a/System_Python/encoder.py
+++ b/System_Python/encoder.py
@@ -30,14 +30,14 @@ class Encoder:
             print("ERROR. Unable to setup the configuration required")
         # Wait some time to before reading
         time.sleep(0.5)
-    def setZero(self):
+    def set_zero(self):
         # Take current position as zero
-        self.offset=self.readPosition('Raw')
+        self.offset=self.read_position('Raw')
     def clockup(self):
         GPIO.output(self.clk_pin,1)
     def clockdown(self):
         GPIO.output(self.clk_pin,0)
-    def readPosition(self, format):
+    def read_position(self, format):
         # Most of this is based of timing diagram of encoder
         # Pull CS low to start reading
         GPIO.output(self.cs_pin,0) 
diff --git a/System_Python/motor.py b/System_Python/motor.py
index 0f7d891..b22dbe2 100644
--- a/System_Python/motor.py
+++ b/System_Python/motor.py
@@ -26,7 +26,7 @@ class Motor:
         

     # Move the motor at a given speed, given as a floating point percentage (-100 <= x <= 100)

     # If speed is less than 0, motor will run in reverse, otherwise it will run forward

-    def Move(self, speed):

+    def move(self, speed):

         if speed < -100.0 or speed > 100.0:

             return

         # Stop any previous movements

@@ -47,7 +47,7 @@ class Motor:
     

     # Stop the motor from spinning.

     # To brake the motor, both direction outputs are set to HIGH

-    def Brake(self):

+    def brake(self):

         # Stop any current PWM signals

         self.speed_pwm.stop()

         # Set the direction outputs to brake

@@ -57,7 +57,7 @@ class Motor:
         

     # Set the motor to coast (i.e. Do not provide power to the motor, but still allow it to spin)

     # To coast the motor, both direction outputs are set to LOW

-    def Coast(self):

+    def coast(self):

         # Stop any current PWM signals

         self.speed_pwm.stop()

         # Set the direction outputs to coast

diff --git a/System_Python/system.py b/System_Python/system.py
new file mode 100644
index 0000000..064700c
--- /dev/null
+++ b/System_Python/system.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python

+from motor import Motor

+from encoder import Encoder

+

+# IO pin definitions

+### Motor pins

+motor_speed_pin = 17

+motor_forward_pin = 27

+motor_reverse_pin = 22

+### Encoder pins (shared by both encoders)

+encoder_clock_pin = 2

+encoder_data_pin = 3

+### Angular encoder pins

+encoder_angular_cs_pin = 4

+### Linear encoder pins

+encoder_linear_cs_pin = 5

+

+

+# System Class

+# This is the primary interface a student will use to control the pendulum.

+class System:

+    def __init__(self):

+		# Initialize the motor.

+		self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)

+		# Initialize the angular encoder.

+		self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)

+		self.encoder_angular.set_zero()

+		# Initialize the linear encoder.

+		self.encoder_linear = Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)

+		self.encoder_linear.set_zero()

+    # END __init__()

+	

+	# Get the values of the encoders to determine the angular and linear position of the pendulum.

+	# Values are returned as a tuple: (angle, linear).

+	### angle: 0 indicates the pendulum is exactly straight up.

+	#####	   180 or -180 indicate the pendulum is exactly straight down.

+	#####	   Positive values indicate the pendulum is leaning to the right.

+	#####	   Negative values indicate the pendulum is leaning to the left.

+	### linear: 0 indicates the pendulum is exactly in the middle of the track.

+	#####		Positive values indicate the pendulum is right-of-center.

+	#####		Negative values indicate the pendulum is left-of-center.

+	def measure(self):

+		angular_position = self.encoder_angular.read_position('Degrees')

+		if angular_position > 180:

+			angular_position = angular_position - 360

+		# TODO: Implement linear position

+		# Need to determine how to keep track of position based on gearing and rotations.

+		#linear_position = self.encoder_linear.read_position('Raw')

+		linear_position = 0

+		return (angular_position, linear_position)

+	# END measure()

+	

+	# Adjust the pendulum's linear position using the motor.

+	### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.

+	#####	   Negative values will move the pendulum to the left.

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

+	def adjust(self, speed):

+		# cap the speed inputs

+		if speed > 100.0:

+			speed = 100.0

+		if speed < -100.0:

+			speed = -100.0

+		# 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.move(speed)

+	# END adjust()

+# END System

+    
\ No newline at end of file
diff --git a/System_Python/test_Encoder.py b/System_Python/test_Encoder.py
index 08804fa..b667cc1 100644
--- a/System_Python/test_Encoder.py
+++ b/System_Python/test_Encoder.py
@@ -7,8 +7,8 @@ cs_pin  = 4
 data_pin = 3
 
 e = Encoder(clk_pin, cs_pin, data_pin)
-e.setZero()
+e.set_zero()
 
 while(1):
-    print(e.readPosition('Degrees'))
+    print(e.read_position('Degrees'))
     time.sleep(0.001)
\ No newline at end of file
diff --git a/System_Python/test_System.py b/System_Python/test_System.py
new file mode 100644
index 0000000..af218e0
--- /dev/null
+++ b/System_Python/test_System.py
@@ -0,0 +1,17 @@
+# This test file implements a super simple control-type function for testing the System library.

+# DO NOT TEST ON ASSEMBLED PHYSICAL SYSTEM! It will probably break it.

+

+from system import System

+

+# Return a speed based on current encoder angle.

+# Convert an angle to speed (180 degrees = max speed)

+def control_function(angle):

+	return (angle / 180.0) * 100.0

+		

+# Main program

+sys = System()

+while 1:

+	angle, linear = sys.measure()

+	speed = control_function(angle)

+	sys.adjust(speed)

+	
\ No newline at end of file