Hopefully get the system able to be packaged

Signed-off-by: Matt Strapp <matt@mattstrapp.net>

6 files changed, 207 insertions, 0 deletions

diff --git a/System/Tests/donovanTestScript.py b/System/Tests/donovanTestScript.py
new file mode 100644
index 0000000..4a51f08
--- /dev/null
+++ b/System/Tests/donovanTestScript.py
@@ -0,0 +1,81 @@
+
+
+
+
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+###
+sys.path.insert(0, '/home/pi/pendulum/System')
+from encoder import Encoder
+import RPi.GPIO as GPIO
+
+
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+###
+
+
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(4,20):
+    linear = 0
+    
+    print("beginning of test with speed " + str(x))
+    
+    while linear > -7:
+        sys.adjust(-5)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        time.sleep(0.1)
+    sys.adjust(0)
+    time.sleep(3)    
+    sys.add_log("this is a test with speed " + str(x))
+    
+    while linear < 7:
+        sys.adjust(x)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        sys.add_results(e.read_position('Degrees'), linear, x)
+        time.sleep(0.1)
+    sys.adjust(0)    
+    print("end of test with speed " + str(x))
+    time.sleep(3)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
diff --git a/System/Tests/samTestScript.py b/System/Tests/samTestScript.py
new file mode 100644
index 0000000..5f9312f
--- /dev/null
+++ b/System/Tests/samTestScript.py
@@ -0,0 +1,42 @@
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(0,10):
+    angle, linear = sys.measure()
+    print("Angle: " + str(angle) + ", Linear: " + str(linear))
+    sys.add_results(linear, angle, angle)
+    time.sleep(0.2)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
\ No newline at end of file
diff --git a/System/Tests/test_Encoder.py b/System/Tests/test_Encoder.py
new file mode 100644
index 0000000..bb6e3e4
--- /dev/null
+++ b/System/Tests/test_Encoder.py
@@ -0,0 +1,23 @@
+from encoder import Encoder
+import time
+import RPi.GPIO as GPIO
+
+# Decide which pins to hook up to on the Pi before running
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+
+try:
+    while(1):
+        print(e.read_position('Degrees'))
+        time.sleep(0.001)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    # Perform GPIO cleanup. Things may get weird otherwise...
+    GPIO.cleanup()
+
+
diff --git a/System/Tests/test_Motor.py b/System/Tests/test_Motor.py
new file mode 100644
index 0000000..f48b6ee
--- /dev/null
+++ b/System/Tests/test_Motor.py
@@ -0,0 +1,29 @@
+from motor import Motor

+import time

+import RPi.GPIO as GPIO

+

+# Decide which pins to hook up to on the Pi before running

+speed_pin = 17

+forward_pin = 27

+reverse_pin = 22

+

+m = Motor(speed_pin, forward_pin, reverse_pin)

+

+dir = 'ascending'

+speed = 0.0

+try:

+    while 1:

+        if speed >= 15.0:

+            dir = 'descending'

+        elif speed <= -15.0:

+            dir = 'ascending'

+        if dir == 'ascending':

+            speed = speed + 2.0

+        else:

+            speed = speed - 2.0

+        m.move(speed)

+        time.sleep(0.1)

+except:

+    print("Program killed by Ctrl-C")

+finally:

+    GPIO.cleanup()
\ No newline at end of file
diff --git a/System/Tests/test_Return_Home.py b/System/Tests/test_Return_Home.py
new file mode 100644
index 0000000..04e19cb
--- /dev/null
+++ b/System/Tests/test_Return_Home.py
@@ -0,0 +1,19 @@
+from system import System

+from time import sleep

+        

+# Main program

+#print("before system()call")

+sys = System()

+#print("after system() call")

+sys.initialize()

+#print("after sys.inintalize called")

+

+ang,lin = sys.measure()

+print("Starting position before moving: " + str(lin))

+sys.adjust(4)

+ang,lin = sys.measure()

+sleep(0.01)

+while lin < 10:

+    ang,lin = sys.measure()

+    sleep(0.01)

+sys.return_home()

diff --git a/System/Tests/test_System.py b/System/Tests/test_System.py
new file mode 100644
index 0000000..c05affc
--- /dev/null
+++ b/System/Tests/test_System.py
@@ -0,0 +1,13 @@
+# 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.

+import time

+

+from System.system import System

+        

+# Main program

+sys = System(angular_units = 'Radians')

+while 1:

+    angle, linear = sys.measure()

+    print("Angle: " + str(angle) + ", Linear: " + str(linear))

+    time.sleep(0.2)

+