Update test files to do GPIO cleanup on completion (ex: encoders don't work if GPIO.cleanup is not performed). Add system destructor and add GPIO.cleanup to that too. Everything appears to be working still.

1 files changed, 8 insertions, 1 deletions

diff --git a/System/system.py b/System/system.py
index 8dd9f38..7b2ffcf 100755
--- a/System/system.py
+++ b/System/system.py
@@ -20,7 +20,7 @@ encoder_data_pin = 3
 ### Angular encoder pins

 encoder_angular_cs_pin = 4

 ### Linear encoder pins

-encoder_linear_cs_pin = 14 

+encoder_linear_cs_pin = 14

 ### Limit switch pins (configured to PULLUP)

 limit_negative_pin = 19

 limit_positive_pin = 26

@@ -89,6 +89,13 @@ class System:
         self.encoder_thread.start()

     # END __init__()

     

+    # Destructor

+    # Brake the motor and call GPIO.cleanup as a last-chance of doing so

+    def __del__(self):

+        self.motor.brake()

+        GPIO.cleanup()

+    # END __del__()

+    

     def initialize(self):

         # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered

         GPIO.remove_event_detect(limit_negative_pin)