Add code that was not committed before

1 files changed, 9 insertions, 0 deletions

diff --git a/System/motor.py b/System/motor.py
index b22dbe2..427d393 100755..100644
--- a/System/motor.py
+++ b/System/motor.py
@@ -2,6 +2,7 @@
 

 # Import required modules

 import RPi.GPIO as GPIO

+from time import sleep

 

 # Constants: parameters that the caller cannot modify

 # Frequency: We have determined that the optimal frequency for our motor is 1kHz

@@ -22,11 +23,15 @@ class Motor:
         GPIO.setup(self.reverse_pin, GPIO.OUT)

         # Set speed pin as a PWM output

         self.speed_pwm = GPIO.PWM(speed_pin, pwm_frequency)

+        self.current_speed = 0.

     # END __init__

         

     # 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):

+        if speed == self.current_speed:

+            # do not attempt to readjust speed; this can cause erratic behavior

+            return

         if speed < -100.0 or speed > 100.0:

             return

         # Stop any previous movements

@@ -43,6 +48,8 @@ class Motor:
             GPIO.output(self.reverse_pin, GPIO.LOW)

         # Start the PWM output to start moving the motor

         self.speed_pwm.start(abs(speed))

+        self.current_speed = speed

+        sleep((1./pwm_frequency) * 3)

     # END Move

     

     # Stop the motor from spinning.

@@ -53,6 +60,7 @@ class Motor:
         # Set the direction outputs to brake

         GPIO.output(self.forward_pin, GPIO.HIGH)

         GPIO.output(self.reverse_pin, GPIO.HIGH)

+        self.current_speed = 0.

     # END Brake

         

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

@@ -63,5 +71,6 @@ class Motor:
         # Set the direction outputs to coast

         GPIO.output(self.forward_pin, GPIO.LOW)

         GPIO.output(self.reverse_pin, GPIO.LOW)

+        self.current_speed = 0.

     # END Coast

     
\ No newline at end of file