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| author | Raspberry Pi <raspberrypi@umn.edu> | 2019-11-20 01:22:22 -0600 |
|---|---|---|
| committer | Raspberry Pi <raspberrypi@umn.edu> | 2019-11-20 01:22:22 -0600 |
| commit | caa2d9c446f5901671d30e52b1aaa4c56ef2f25c (patch) | |
| tree | e541778f97d291c6bc4f160b4ec8cd9d24d538fb /System/test_System.py | |
| parent | Fixed encoder zeroing. Other minor changes, still trying to get the swingup c... (diff) | |
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Rework directory structure. Modify result file printing to match requirements of web server.
Diffstat (limited to 'System/test_System.py')
| -rw-r--r-- | System/test_System.py | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/System/test_System.py b/System/test_System.py new file mode 100644 index 0000000..21ed336 --- /dev/null +++ b/System/test_System.py @@ -0,0 +1,21 @@ +# 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 import System
+
+# Return a speed based on current encoder angle.
+# Convert an angle to speed (180 degrees = max speed)
+def control_function(angle):
+ return (abs(angle) / 180.0) * 100.0
+
+# Main program
+sys = System(angular_units = 'Radians')
+while 1:
+ angle, linear = sys.measure()
+ print(angle)
+ """speed = control_function(angle)
+ print(speed)
+ sys.adjust(speed)"""
+ time.sleep(0.05)
+
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