Refactor speed to torque

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

1 files changed, 18 insertions, 18 deletions

diff --git a/System/pendulum/system.py b/System/pendulum/system.py
index 21439aa..4a49492 100644
--- a/System/pendulum/system.py
+++ b/System/pendulum/system.py
@@ -19,7 +19,7 @@ from threading import Thread, Lock
 

 # IO pin definitions

 ### Motor pins

-motor_speed_pin = 17

+motor_torque_pin = 17

 motor_forward_pin = 27

 motor_reverse_pin = 22

 ### Encoder pins (shared by both encoders)

@@ -54,7 +54,7 @@ class System:
         self.max_x = system_max_x

         self.min_x = system_min_x

         # Initialize the motor.

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

+        self.motor = Motor(motor_torque_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(offset = 512) # set offset so that 0 is upright vertical

@@ -88,13 +88,13 @@ class System:
             self.sw_limit_routine = sw_limit_routine

         

         # Create and setup results file (to be sent back to the server and displayed/downloaded to the user)

-        # Results file is a CSV with the following entries: angle, position, speed

+        # Results file is a CSV with the following entries: angle, position, torque

         self.result_filename = f"{sys.argv[0].split('.')[0]}.csv"

         print("self.result_filename")

         print(self.result_filename)

         # Open the file for write mode.  The file will get created, assuming it does not already exist.

         result_file = open(self.result_filename, "x")

-        result_file.write(f"timestamp,angle({angular_units}),position(inches),speed(percentage)\n")

+        result_file.write(f"timestamp,angle({angular_units}),position(inches),torque(percentage)\n")

         result_file.close()

         

         # Setup a thread to constantly be measuring encoder positions

@@ -226,34 +226,34 @@ class System:
             sleep(0.01)

     

     # 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.

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

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

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

-    def adjust(self, speed):

+    def adjust(self, torque):

         if self.interrupted == False:

-            if speed != 0:

-                # cap the speed inputs

-                if speed > 100.:

-                    speed = 100.

-                if speed < -100.:

-                    speed = -100.

-                # 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.

+            if torque != 0:

+                # cap the torque inputs

+                if torque > 100.:

+                    torque = 100.

+                if torque < -100.:

+                    torque = -100.

+                # change the motor torque

+                # TODO: Make sure the motor is oriented so that positive torque the correct direction (same for negative). Change the values otherwise.

                 self.motor.coast()

-                self.motor.move(speed)

+                self.motor.move(torque)

             else:

                 self.motor.coast()

     # END adjust()

     

     # Append data to the results file

-    def add_results(self, angle, position, speed):

+    def add_results(self, angle, position, torque):

         # open the results file

         result_file = open(self.result_filename, "a")

         # Write the results

         result_file.write("%s," % datetime.now().strftime("%H:%M:%S.%f"))   # Write current time

         result_file.write("%f," % angle)                                    # Write angle

         result_file.write("%f," % position)                                 # Write position

-        result_file.write("%f\n" % speed)                                   # Write speed (end of line)

+        result_file.write("%f\n" % torque)                                   # Write torque (end of line)

         # Close the results file

         result_file.close()

     # END add_results

@@ -264,7 +264,7 @@ class System:
         # Write the log

         result_file.write("%s\n" % message)

         # re-write the csv headers for next logging

-        result_file.write(f"timestamp,angle({self.angular_units}),position(inches),speed(percentage)\n")

+        result_file.write(f"timestamp,angle({self.angular_units}),position(inches),torque(percentage)\n")

         # Close the results file

         result_file.close()