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| author | damic014 <damic014@umn.edu> | 2019-11-26 01:10:37 -0600 |
|---|---|---|
| committer | damic014 <damic014@umn.edu> | 2019-11-26 01:10:37 -0600 |
| commit | da0015bf71ec53effc75adb2b3a035bfdf8dbe86 (patch) | |
| tree | a0acdde0fcd8b2f517ea0778f2a420c8bf44c802 /System/motor.py | |
| parent | Added Andy's new swingup code. New issues with physical system: rod bearing k... (diff) | |
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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...)
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