Add code that was not committed before

22 files changed, 945 insertions, 27 deletions

diff --git a/System/Downloads/.~lock.results.csv# b/System/Downloads/.~lock.results.csv#
new file mode 100644
index 0000000..e78d75a
--- /dev/null
+++ b/System/Downloads/.~lock.results.csv#
@@ -0,0 +1 @@
+,pi,raspberrypi,17.11.2021 01:58,file:///home/pi/.config/libreoffice/4;
\ No newline at end of file
diff --git a/System/Downloads/results.csv b/System/Downloads/results.csv
new file mode 100644
index 0000000..3bb6442
--- /dev/null
+++ b/System/Downloads/results.csv
@@ -0,0 +1,255 @@
+timestamp,angle(Radians),position(inches),speed(percentage)
+this is a test with speed 4
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:05:38.576364,151.875000,-8.439453,4.000000
+16:05:38.681444,163.828125,-7.929688,4.000000
+16:05:38.786566,181.757812,-7.250000,4.000000
+16:05:38.891516,169.804688,-6.570312,4.000000
+16:05:38.995733,212.343750,-6.003906,4.000000
+16:05:39.100758,226.406250,-5.437500,4.000000
+16:05:39.205412,240.820312,-4.814453,4.000000
+16:05:39.310307,253.828125,-4.304688,4.000000
+16:05:39.415478,267.890625,-3.738281,4.000000
+16:05:39.520592,286.875000,-3.001953,4.000000
+16:05:39.625938,169.804688,-2.265625,4.000000
+16:05:39.731885,325.898438,-1.416016,4.000000
+16:05:39.836757,349.453125,-0.566406,4.000000
+16:05:39.941132,3.867188,0.169922,4.000000
+16:05:40.045609,18.984375,0.679688,4.000000
+16:05:40.150155,33.750000,1.302734,4.000000
+16:05:40.254815,46.054688,1.812500,4.000000
+16:05:40.359374,59.062500,2.322266,4.000000
+16:05:40.464077,72.070312,2.888672,4.000000
+16:05:40.569240,85.078125,3.341797,4.000000
+16:05:40.673757,100.898438,3.964844,4.000000
+16:05:40.778099,120.234375,4.814453,4.000000
+16:05:40.882811,135.000000,5.380859,4.000000
+16:05:40.987922,150.117188,5.947266,4.000000
+16:05:41.093497,164.531250,6.570312,4.000000
+16:05:41.198542,310.078125,6.117188,4.000000
+16:05:41.303724,194.765625,7.816406,4.000000
+this is a test with speed 5
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:05:49.596340,151.523438,-8.439453,5.000000
+16:05:49.702042,164.882812,-7.986328,5.000000
+16:05:49.806746,182.109375,-7.250000,5.000000
+16:05:49.911113,200.039062,-6.457031,5.000000
+16:05:50.016017,217.265625,-5.833984,5.000000
+16:05:50.120927,233.789062,-5.154297,5.000000
+16:05:50.226005,246.796875,-4.531250,5.000000
+16:05:50.331501,264.023438,-3.908203,5.000000
+16:05:50.436136,280.195312,-3.228516,5.000000
+16:05:50.540434,300.234375,-2.435547,5.000000
+16:05:50.644997,310.078125,-1.642578,5.000000
+16:05:50.749780,338.554688,-0.962891,5.000000
+16:05:50.854710,359.648438,-0.113281,5.000000
+16:05:50.959321,14.765625,0.566406,5.000000
+16:05:51.064479,28.476562,1.076172,5.000000
+16:05:51.169904,41.835938,1.642578,5.000000
+16:05:51.274321,53.789062,2.095703,5.000000
+16:05:51.379558,82.265625,2.718750,5.000000
+16:05:51.485216,86.484375,3.455078,5.000000
+16:05:51.589896,103.359375,4.078125,5.000000
+16:05:51.694795,118.828125,4.701172,5.000000
+16:05:51.799843,135.000000,5.380859,5.000000
+16:05:51.905289,153.281250,6.117188,5.000000
+16:05:52.010447,168.046875,6.740234,5.000000
+16:05:52.115766,184.570312,7.363281,5.000000
+this is a test with speed 6
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:00.402833,155.742188,-8.212891,6.000000
+16:06:00.507380,170.859375,-7.703125,6.000000
+16:06:00.611857,192.304688,-6.796875,6.000000
+16:06:00.716536,212.343750,-6.003906,6.000000
+16:06:00.821368,229.570312,-5.210938,6.000000
+16:06:00.926219,248.554688,-4.531250,6.000000
+16:06:01.030902,268.242188,-3.738281,6.000000
+16:06:01.135153,291.093750,-2.888672,6.000000
+16:06:01.240387,310.429688,-2.039062,6.000000
+16:06:01.346681,337.500000,-1.019531,6.000000
+16:06:01.451072,357.890625,-0.169922,6.000000
+16:06:01.555432,14.765625,0.509766,6.000000
+16:06:01.659765,31.640625,1.189453,6.000000
+16:06:01.764515,47.109375,1.925781,6.000000
+16:06:01.869452,84.726562,1.982422,6.000000
+16:06:01.974763,81.210938,3.228516,6.000000
+16:06:02.080037,110.390625,4.417969,6.000000
+16:06:02.184478,133.242188,5.267578,6.000000
+16:06:02.288869,159.257812,6.343750,6.000000
+16:06:02.394059,178.593750,7.136719,6.000000
+this is a test with speed 7
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:10.787039,155.742188,-8.326172,7.000000
+16:06:10.891894,172.265625,-7.589844,7.000000
+16:06:10.996373,197.226562,-6.683594,7.000000
+16:06:11.101025,220.078125,-5.720703,7.000000
+16:06:11.205584,241.875000,-4.814453,7.000000
+16:06:11.310519,264.726562,-3.851562,7.000000
+16:06:11.415853,287.929688,-2.945312,7.000000
+16:06:11.521213,316.054688,-1.869141,7.000000
+16:06:11.626844,339.960938,-0.792969,7.000000
+16:06:11.731536,4.570312,0.056641,7.000000
+16:06:11.836571,24.257812,0.906250,7.000000
+16:06:11.941584,45.000000,1.699219,7.000000
+16:06:12.046068,67.148438,2.662109,7.000000
+16:06:12.150479,87.187500,3.455078,7.000000
+16:06:12.255299,110.390625,4.417969,7.000000
+16:06:12.360261,132.187500,5.324219,7.000000
+16:06:12.465326,164.179688,6.343750,7.000000
+16:06:12.570285,247.148438,7.306641,7.000000
+this is a test with speed 8
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:21.067404,146.953125,-8.609375,8.000000
+16:06:21.172426,167.343750,-7.816406,8.000000
+16:06:21.277701,194.062500,-6.740234,8.000000
+16:06:21.382108,221.132812,-5.607422,8.000000
+16:06:21.487238,246.445312,-4.587891,8.000000
+16:06:21.591897,272.812500,-3.681641,8.000000
+16:06:21.696160,299.531250,-2.492188,8.000000
+16:06:21.800504,333.632812,-1.189453,8.000000
+16:06:21.905406,3.867188,0.056641,8.000000
+16:06:22.010322,27.773438,1.076172,8.000000
+16:06:22.115327,50.273438,1.982422,8.000000
+16:06:22.220967,310.078125,2.888672,8.000000
+16:06:22.325576,102.656250,4.021484,8.000000
+16:06:22.429865,131.132812,5.267578,8.000000
+16:06:22.534194,158.203125,6.343750,8.000000
+16:06:22.638637,183.515625,7.306641,8.000000
+this is a test with speed 9
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:31.031310,156.445312,-8.156250,9.000000
+16:06:31.135897,178.593750,-7.363281,9.000000
+16:06:31.240262,207.773438,-6.173828,9.000000
+16:06:31.344854,235.195312,-5.154297,9.000000
+16:06:31.449848,262.265625,-3.964844,9.000000
+16:06:31.554751,295.312500,-2.662109,9.000000
+16:06:31.659333,328.359375,-1.416016,9.000000
+16:06:31.764724,358.945312,-0.113281,9.000000
+16:06:31.870791,28.125000,1.076172,9.000000
+16:06:31.975477,51.679688,2.095703,9.000000
+16:06:32.080707,78.750000,3.001953,9.000000
+16:06:32.186322,107.578125,4.304688,9.000000
+16:06:32.290125,135.703125,5.380859,9.000000
+16:06:32.393809,161.015625,6.513672,9.000000
+16:06:32.497669,184.921875,7.419922,9.000000
+this is a test with speed 10
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:40.786494,165.937500,-7.816406,10.000000
+16:06:40.890933,189.492188,-6.966797,10.000000
+16:06:40.995809,220.429688,-5.664062,10.000000
+16:06:41.100863,251.367188,-4.417969,10.000000
+16:06:41.205687,169.804688,-3.115234,10.000000
+16:06:41.310919,318.867188,-1.416016,10.000000
+16:06:41.416911,7.382812,0.226562,10.000000
+16:06:41.521777,37.265625,1.472656,10.000000
+16:06:41.626084,63.632812,2.435547,10.000000
+16:06:41.730686,93.867188,3.681641,10.000000
+16:06:41.835368,129.023438,5.210938,10.000000
+16:06:41.939942,166.640625,6.513672,10.000000
+16:06:42.044809,197.226562,7.873047,10.000000
+this is a test with speed 11
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:06:50.543685,310.078125,-8.099609,11.000000
+16:06:50.648804,186.679688,-7.136719,11.000000
+16:06:50.753326,217.968750,-5.777344,11.000000
+16:06:50.857634,248.906250,-4.474609,11.000000
+16:06:50.962427,286.875000,-3.058594,11.000000
+16:06:51.068607,16.171875,-1.416016,11.000000
+16:06:51.174180,7.031250,0.169922,11.000000
+16:06:51.279678,39.726562,1.472656,11.000000
+16:06:51.384272,68.554688,2.718750,11.000000
+16:06:51.488482,103.359375,4.078125,11.000000
+16:06:51.593232,139.921875,5.607422,11.000000
+16:06:51.698487,177.539062,7.136719,11.000000
+this is a test with speed 12
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:00.197329,159.257812,-8.099609,12.000000
+16:07:00.301685,185.976562,-7.136719,12.000000
+16:07:00.406330,220.429688,-5.720703,12.000000
+16:07:00.511087,255.585938,-4.248047,12.000000
+16:07:00.616240,298.476562,-2.662109,12.000000
+16:07:00.721471,342.773438,-0.849609,12.000000
+16:07:00.826835,336.796875,0.849609,12.000000
+16:07:00.931624,55.195312,2.095703,12.000000
+16:07:01.035890,91.054688,3.511719,12.000000
+16:07:01.141184,145.898438,5.777344,12.000000
+16:07:01.245834,196.523438,7.929688,12.000000
+this is a test with speed 13
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:09.743638,153.632812,-8.382812,13.000000
+16:07:09.847816,182.812500,-7.250000,13.000000
+16:07:09.952134,219.726562,-5.664062,13.000000
+16:07:10.056729,256.992188,-4.304688,13.000000
+16:07:10.161448,304.453125,-2.378906,13.000000
+16:07:10.266560,354.375000,-0.339844,13.000000
+16:07:10.371654,30.937500,1.189453,13.000000
+16:07:10.477023,71.367188,2.718750,13.000000
+16:07:10.581384,120.585938,4.757812,13.000000
+16:07:10.685667,170.156250,6.796875,13.000000
+16:07:10.790022,215.156250,8.552734,13.000000
+this is a test with speed 14
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:19.597447,160.664062,-8.042969,14.000000
+16:07:19.702667,193.007812,-6.910156,14.000000
+16:07:19.808553,234.140625,-5.210938,14.000000
+16:07:19.913233,278.437500,-3.398438,14.000000
+16:07:20.018636,330.468750,-1.189453,14.000000
+16:07:20.123250,17.578125,0.623047,14.000000
+16:07:20.227511,56.601562,2.208984,14.000000
+16:07:20.331845,98.437500,3.908203,14.000000
+16:07:20.436379,148.359375,5.777344,14.000000
+16:07:20.541330,194.062500,7.759766,14.000000
+this is a test with speed 15
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:28.935194,159.609375,-8.099609,15.000000
+16:07:29.039480,191.601562,-6.853516,15.000000
+16:07:29.144157,232.382812,-5.097656,15.000000
+16:07:29.249377,281.250000,-3.398438,15.000000
+16:07:29.354193,340.312500,-0.962891,15.000000
+16:07:29.458554,26.367188,1.019531,15.000000
+16:07:29.563759,73.828125,2.492188,15.000000
+16:07:29.668658,116.015625,4.531250,15.000000
+16:07:29.773489,169.101562,6.796875,15.000000
+16:07:29.877867,215.507812,8.552734,15.000000
+this is a test with speed 16
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:38.582762,165.585938,-7.816406,16.000000
+16:07:38.688051,199.687500,-6.513672,16.000000
+16:07:38.792437,241.523438,-4.814453,16.000000
+16:07:38.897530,292.500000,-2.945312,16.000000
+16:07:39.003307,351.210938,-0.509766,16.000000
+16:07:39.108681,36.562500,1.472656,16.000000
+16:07:39.214399,81.210938,3.171875,16.000000
+16:07:39.319046,134.296875,5.210938,16.000000
+16:07:39.423418,189.492188,7.476562,16.000000
+this is a test with speed 17
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:48.023090,168.750000,-7.703125,17.000000
+16:07:48.128140,204.609375,-6.400391,17.000000
+16:07:48.232817,249.960938,-4.531250,17.000000
+16:07:48.337239,309.726562,-2.039062,17.000000
+16:07:48.443361,11.250000,0.283203,17.000000
+16:07:48.548089,58.007812,2.208984,17.000000
+16:07:48.652292,110.039062,4.361328,17.000000
+16:07:48.756551,170.156250,6.683594,17.000000
+16:07:48.862183,223.945312,8.835938,17.000000
+this is a test with speed 18
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:07:57.567597,157.148438,-8.156250,18.000000
+16:07:57.672093,195.820312,-6.796875,18.000000
+16:07:57.776988,246.093750,-4.644531,18.000000
+16:07:57.881749,307.617188,-2.152344,18.000000
+16:07:57.986505,11.953125,0.339844,18.000000
+16:07:58.091505,61.523438,2.378906,18.000000
+16:07:58.195897,120.585938,4.814453,18.000000
+16:07:58.300081,182.109375,7.136719,18.000000
+this is a test with speed 19
+timestamp,angle(Radians),position(inches),speed(percentage)
+16:08:06.795459,149.062500,-8.552734,19.000000
+16:08:06.900815,190.195312,-7.023438,19.000000
+16:08:07.005599,248.554688,-4.587891,19.000000
+16:08:07.110350,318.515625,-1.755859,19.000000
+16:08:07.214857,23.554688,0.736328,19.000000
+16:08:07.319972,75.234375,2.888672,19.000000
+16:08:07.425617,139.218750,5.437500,19.000000
+16:08:07.530277,202.148438,8.099609,19.000000
diff --git a/System/System b/System/System
deleted file mode 120000
index 6a04314..0000000
--- a/System/System
+++ /dev/null
@@ -1 +0,0 @@
-./
\ No newline at end of file
diff --git a/System/Uploads/donovanTestScript.py b/System/Uploads/donovanTestScript.py
new file mode 100644
index 0000000..4a51f08
--- /dev/null
+++ b/System/Uploads/donovanTestScript.py
@@ -0,0 +1,81 @@
+
+
+
+
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+###
+sys.path.insert(0, '/home/pi/pendulum/System')
+from encoder import Encoder
+import RPi.GPIO as GPIO
+
+
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+###
+
+
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(4,20):
+    linear = 0
+    
+    print("beginning of test with speed " + str(x))
+    
+    while linear > -7:
+        sys.adjust(-5)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        time.sleep(0.1)
+    sys.adjust(0)
+    time.sleep(3)    
+    sys.add_log("this is a test with speed " + str(x))
+    
+    while linear < 7:
+        sys.adjust(x)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        sys.add_results(e.read_position('Degrees'), linear, x)
+        time.sleep(0.1)
+    sys.adjust(0)    
+    print("end of test with speed " + str(x))
+    time.sleep(3)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
diff --git a/System/Uploads/upload.py b/System/Uploads/upload.py
new file mode 100644
index 0000000..4a51f08
--- /dev/null
+++ b/System/Uploads/upload.py
@@ -0,0 +1,81 @@
+
+
+
+
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+###
+sys.path.insert(0, '/home/pi/pendulum/System')
+from encoder import Encoder
+import RPi.GPIO as GPIO
+
+
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+###
+
+
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(4,20):
+    linear = 0
+    
+    print("beginning of test with speed " + str(x))
+    
+    while linear > -7:
+        sys.adjust(-5)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        time.sleep(0.1)
+    sys.adjust(0)
+    time.sleep(3)    
+    sys.add_log("this is a test with speed " + str(x))
+    
+    while linear < 7:
+        sys.adjust(x)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        sys.add_results(e.read_position('Degrees'), linear, x)
+        time.sleep(0.1)
+    sys.adjust(0)    
+    print("end of test with speed " + str(x))
+    time.sleep(3)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
diff --git a/System/__init__.py b/System/__init__.py
index e69de29..e69de29 100755..100644
--- a/System/__init__.py
+++ b/System/__init__.py
diff --git a/System/donovanTestScript.py b/System/donovanTestScript.py
new file mode 100644
index 0000000..4a51f08
--- /dev/null
+++ b/System/donovanTestScript.py
@@ -0,0 +1,81 @@
+
+
+
+
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+###
+sys.path.insert(0, '/home/pi/pendulum/System')
+from encoder import Encoder
+import RPi.GPIO as GPIO
+
+
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+###
+
+
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(4,20):
+    linear = 0
+    
+    print("beginning of test with speed " + str(x))
+    
+    while linear > -7:
+        sys.adjust(-5)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        time.sleep(0.1)
+    sys.adjust(0)
+    time.sleep(3)    
+    sys.add_log("this is a test with speed " + str(x))
+    
+    while linear < 7:
+        sys.adjust(x)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        sys.add_results(e.read_position('Degrees'), linear, x)
+        time.sleep(0.1)
+    sys.adjust(0)    
+    print("end of test with speed " + str(x))
+    time.sleep(3)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
diff --git a/System/encoder.py b/System/encoder.py
index ece7fd1..ece7fd1 100755..100644
--- a/System/encoder.py
+++ b/System/encoder.py
diff --git a/System/errorTestScript.py b/System/errorTestScript.py
new file mode 100644
index 0000000..cb029d5
--- /dev/null
+++ b/System/errorTestScript.py
@@ -0,0 +1,42 @@
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(0,10:
+    angle, linear = sys.measure()
+    print("Angle: " + str(angle) + ", Linear: " + str(linear))
+    sys.add_results(linear, angle, angle)
+    time.sleep(0.2)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
\ No newline at end of file
diff --git a/System/homework8.ipynb b/System/homework8.ipynb
index a9c28c9..a9c28c9 100755..100644
--- a/System/homework8.ipynb
+++ b/System/homework8.ipynb
diff --git a/System/initialize_system.py b/System/initialize_system.py
index 6df880f..38b7134 100755..100644
--- a/System/initialize_system.py
+++ b/System/initialize_system.py
@@ -4,6 +4,15 @@ from system import System
 import RPi.GPIO as GPIO

         

 # Main program

+print("Got to init")

 sys = System()

 sys.initialize()

 GPIO.cleanup()

+

+

+##debug version

+#print("alive")

+#sys = System()

+#limit_negative_pin = 19

+#while(1):

+#    print(GPIO.input(limit_negative_pin))
\ No newline at end of file
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
diff --git a/System/results.csv b/System/results.csv
new file mode 100644
index 0000000..ca22685
--- /dev/null
+++ b/System/results.csv
@@ -0,0 +1,252 @@
+this is a test with speed 1
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:11:03.518250,3.638602,11.781250,1.000000
+this is a test with speed 2
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:11:10.747827,3.141593,0.000000,2.000000
+21:11:10.951560,3.141593,0.000000,2.000000
+21:11:11.155652,3.141593,0.000000,2.000000
+21:11:11.359968,3.141593,0.000000,2.000000
+21:11:11.564011,3.196816,10.648438,2.000000
+this is a test with speed 1
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:21:23.365529,3.061826,-12.347656,1.000000
+21:21:23.569516,3.061826,-12.347656,1.000000
+21:21:23.774907,3.061826,-12.291016,1.000000
+21:21:23.978789,3.074097,-12.234375,1.000000
+21:21:24.182513,3.098641,-11.951172,1.000000
+21:21:24.387526,3.172272,-11.328125,1.000000
+21:21:24.593523,3.190680,-10.535156,1.000000
+21:21:24.797276,3.135457,-9.628906,1.000000
+21:21:25.000997,3.092505,-8.666016,1.000000
+21:21:25.204894,3.123185,-7.589844,1.000000
+21:21:25.409312,3.178408,-6.457031,1.000000
+21:21:25.613246,3.178408,-5.494141,1.000000
+21:21:25.816969,3.129321,-4.248047,1.000000
+21:21:26.020770,3.098641,-2.888672,1.000000
+21:21:26.224634,3.117049,-1.642578,1.000000
+21:21:26.428394,3.160000,-0.453125,1.000000
+21:21:26.632123,3.160000,0.623047,1.000000
+21:21:26.836130,3.129321,1.416016,1.000000
+21:21:27.041016,3.123185,2.322266,1.000000
+21:21:27.245016,3.153864,3.398438,1.000000
+21:21:27.448770,3.172272,4.757812,1.000000
+21:21:27.652601,3.147729,6.003906,1.000000
+21:21:27.857510,3.123185,7.250000,1.000000
+21:21:28.061582,3.129321,8.212891,1.000000
+21:21:28.265318,3.153864,9.062500,1.000000
+21:21:28.469456,3.160000,9.798828,1.000000
+21:21:28.674342,3.166136,10.931641,1.000000
+this is a test with speed 2
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:21:40.385974,3.123185,-11.328125,2.000000
+21:21:40.589873,3.153864,-11.328125,2.000000
+21:21:40.793628,3.153864,-11.328125,2.000000
+21:21:40.997389,3.123185,-11.271484,2.000000
+21:21:41.201337,3.123185,-11.101562,2.000000
+21:21:41.405074,3.160000,-10.478516,2.000000
+21:21:41.608862,3.172272,-9.685547,2.000000
+21:21:41.812892,3.147729,-8.496094,2.000000
+21:21:42.017833,3.123185,-7.250000,2.000000
+21:21:42.226387,3.123185,-6.117188,2.000000
+21:21:42.430203,3.141593,-5.041016,2.000000
+21:21:42.634253,3.153864,-3.908203,2.000000
+21:21:42.838705,3.147729,-2.605469,2.000000
+21:21:43.042663,3.135457,-1.189453,2.000000
+21:21:43.246393,3.153864,0.396484,2.000000
+21:21:43.450282,3.153864,1.699219,2.000000
+21:21:43.654589,3.147729,3.171875,2.000000
+21:21:43.858462,3.117049,4.701172,2.000000
+21:21:44.062365,3.110913,6.003906,2.000000
+21:21:44.266291,3.147729,7.136719,2.000000
+21:21:44.470675,3.166136,8.156250,2.000000
+21:21:44.675230,3.160000,9.289062,2.000000
+21:21:44.879104,3.123185,10.308594,2.000000
+this is a test with speed 3
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:21:56.181311,3.129321,-11.667969,3.000000
+21:21:56.385221,3.135457,-11.667969,3.000000
+21:21:56.588969,3.135457,-11.611328,3.000000
+21:21:56.792985,3.147729,-11.328125,3.000000
+21:21:56.997731,3.172272,-10.705078,3.000000
+21:21:57.201605,3.166136,-9.515625,3.000000
+21:21:57.405341,3.153864,-7.986328,3.000000
+21:21:57.609332,3.129321,-6.400391,3.000000
+21:21:57.813877,3.117049,-4.984375,3.000000
+21:21:58.017821,3.141593,-3.455078,3.000000
+21:21:58.221548,3.153864,-1.585938,3.000000
+21:21:58.425285,3.153864,0.113281,3.000000
+21:21:58.629381,3.141593,1.642578,3.000000
+21:21:58.833311,3.141593,3.341797,3.000000
+21:21:59.037050,3.123185,5.097656,3.000000
+21:21:59.240776,3.123185,6.740234,3.000000
+21:21:59.445332,3.147729,8.156250,3.000000
+21:21:59.649453,3.153864,9.515625,3.000000
+21:21:59.853174,3.141593,10.875000,3.000000
+this is a test with speed 4
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:22:10.551392,3.074097,-11.667969,4.000000
+21:22:10.755403,3.166136,-11.611328,4.000000
+21:22:10.959199,3.209088,-11.611328,4.000000
+21:22:11.162979,3.141593,-11.611328,4.000000
+21:22:11.367035,3.067962,-11.667969,4.000000
+21:22:11.571220,3.092505,-11.667969,4.000000
+21:22:11.775098,3.172272,-26.167969,4.000000
+21:22:11.978903,3.190680,-26.111328,4.000000
+21:22:12.182761,3.129321,-26.167969,4.000000
+this is a test with speed 1
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:24:03.238594,3.049554,-10.988281,1.000000
+21:24:03.443363,3.319534,-11.384766,1.000000
+21:24:03.647160,3.460661,-11.384766,1.000000
+21:24:03.850915,3.252039,-11.328125,1.000000
+21:24:04.055110,3.055690,-10.421875,1.000000
+21:24:04.259089,3.147729,-8.439453,1.000000
+21:24:04.462815,3.294991,-7.080078,1.000000
+21:24:04.666720,3.294991,-6.287109,1.000000
+21:24:04.871045,3.209088,-5.210938,1.000000
+21:24:05.075400,3.166136,-3.738281,1.000000
+21:24:05.279280,3.215224,-1.812500,1.000000
+21:24:05.483051,3.270447,-0.056641,1.000000
+21:24:05.687202,3.258175,1.472656,1.000000
+21:24:05.891495,3.196816,3.171875,1.000000
+21:24:06.095450,3.172272,5.154297,1.000000
+21:24:06.299177,3.202952,6.853516,1.000000
+21:24:06.503022,3.227496,7.986328,1.000000
+21:24:06.707304,3.221360,8.779297,1.000000
+21:24:06.911174,3.209088,9.515625,1.000000
+21:24:07.115038,3.227496,10.535156,1.000000
+this is a test with speed 2
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:24:17.195756,3.288855,-26.621094,2.000000
+21:24:17.400051,3.233632,-26.621094,2.000000
+21:24:17.603796,3.160000,-26.564453,2.000000
+21:24:17.807579,3.258175,-25.261719,2.000000
+21:24:18.011603,3.313399,-23.505859,2.000000
+21:24:18.216375,3.202952,-22.373047,2.000000
+21:24:18.422944,3.086369,-21.523438,2.000000
+21:24:18.627284,3.166136,-20.900391,2.000000
+21:24:18.831221,3.331806,-19.937500,2.000000
+21:24:19.035149,3.362486,-18.521484,2.000000
+21:24:19.238927,3.196816,-16.708984,2.000000
+21:24:19.443200,3.067962,-14.953125,2.000000
+21:24:19.647538,3.153864,-13.650391,2.000000
+21:24:19.852128,3.319534,-12.404297,2.000000
+21:24:20.055988,3.325670,-11.214844,2.000000
+21:24:20.259682,3.209088,-9.572266,2.000000
+21:24:20.463588,3.110913,-7.873047,2.000000
+21:24:20.667910,3.160000,-6.626953,2.000000
+21:24:20.871916,3.270447,-5.607422,2.000000
+21:24:21.075676,3.301127,-4.474609,2.000000
+21:24:21.279456,3.209088,-3.341797,2.000000
+21:24:21.483292,3.129321,-2.208984,2.000000
+21:24:21.687757,3.123185,-2.039062,2.000000
+21:24:21.891745,3.245903,-2.039062,2.000000
+21:24:22.095769,3.325670,-2.039062,2.000000
+21:24:22.299703,3.258175,-2.095703,2.000000
+21:24:22.503702,3.202952,-2.095703,2.000000
+21:24:22.707592,3.270447,-2.095703,2.000000
+21:24:22.911564,3.276583,-2.208984,2.000000
+21:24:23.115698,3.264311,-3.681641,2.000000
+21:24:23.320113,3.307263,-6.060547,2.000000
+21:24:23.523990,3.368622,-8.835938,2.000000
+21:24:23.727764,3.423845,-12.177734,2.000000
+21:24:23.931581,3.479068,-14.896484,2.000000
+21:24:24.135508,3.491340,-17.162109,2.000000
+21:24:24.339394,3.331806,-17.445312,2.000000
+21:24:24.543121,3.184544,-17.388672,2.000000
+21:24:24.747104,3.141593,-17.388672,2.000000
+21:24:24.951503,3.209088,-17.388672,2.000000
+21:24:25.155448,3.282719,-17.388672,2.000000
+21:24:25.359181,3.258175,-17.388672,2.000000
+21:24:25.563220,3.184544,-17.445312,2.000000
+21:24:25.767602,3.160000,-17.388672,2.000000
+21:24:25.971902,3.221360,-17.388672,2.000000
+21:24:26.175822,3.270447,-17.388672,2.000000
+21:24:26.379473,3.239767,-17.445312,2.000000
+21:24:26.583204,3.184544,-17.388672,2.000000
+21:24:26.787312,3.178408,-17.388672,2.000000
+21:24:26.991191,3.227496,-17.388672,2.000000
+21:24:27.195040,3.258175,-17.388672,2.000000
+21:24:27.398920,3.233632,-17.445312,2.000000
+21:24:27.602646,3.190680,-17.388672,2.000000
+21:24:27.806773,3.196816,-17.445312,2.000000
+21:24:28.010824,3.227496,-17.445312,2.000000
+21:24:28.214705,3.239767,-17.388672,2.000000
+21:24:28.418434,3.215224,-17.445312,2.000000
+21:24:28.622173,3.196816,-17.445312,2.000000
+21:24:28.827388,3.209088,-17.445312,2.000000
+21:24:29.031949,3.227496,-17.388672,2.000000
+21:24:29.235813,3.227496,-17.388672,2.000000
+21:24:29.439567,3.215224,-17.388672,2.000000
+21:24:29.643433,3.209088,-17.445312,2.000000
+21:24:29.847229,3.221360,-17.388672,2.000000
+21:24:30.051008,3.221360,-17.388672,2.000000
+21:24:30.254897,3.221360,-17.445312,2.000000
+21:24:30.460323,3.215224,-17.445312,2.000000
+21:24:30.664998,3.215224,-17.445312,2.000000
+21:24:30.868735,3.215224,-17.388672,2.000000
+21:24:31.072555,3.221360,-17.388672,2.000000
+21:24:31.278097,3.221360,-17.388672,2.000000
+21:24:31.482317,3.215224,-17.388672,2.000000
+21:24:31.686053,3.221360,-17.388672,2.000000
+21:24:31.889814,3.215224,-17.445312,2.000000
+21:24:32.094156,3.215224,-17.445312,2.000000
+21:24:32.298057,3.215224,-17.445312,2.000000
+21:24:32.501811,3.215224,-17.445312,2.000000
+21:24:32.705567,3.209088,-17.558594,2.000000
+21:24:32.909636,3.123185,-19.031250,2.000000
+21:24:33.113681,3.129321,-20.957031,2.000000
+21:24:33.317471,3.258175,-22.882812,2.000000
+21:24:33.521209,3.331806,-24.808594,2.000000
+21:24:33.725343,3.270447,-26.224609,2.000000
+21:24:33.929347,3.135457,-27.414062,2.000000
+21:24:34.133069,3.141593,-28.263672,2.000000
+21:24:34.336813,3.270447,-28.830078,2.000000
+21:24:34.540822,3.350214,-28.773438,2.000000
+21:24:34.745675,3.368622,-27.074219,2.000000
+21:24:34.949791,3.233632,-24.242188,2.000000
+21:24:35.153530,3.061826,-21.353516,2.000000
+21:24:35.357278,3.037282,-19.824219,2.000000
+21:24:35.561108,3.209088,-18.748047,2.000000
+21:24:35.765374,3.362486,-17.785156,2.000000
+21:24:35.969290,3.301127,-16.935547,2.000000
+21:24:36.173039,3.080233,-16.539062,2.000000
+21:24:36.377081,3.049554,-16.425781,2.000000
+21:24:36.580936,3.239767,-16.425781,2.000000
+21:24:36.785009,3.380894,-16.425781,2.000000
+21:24:36.988996,3.294991,-16.482422,2.000000
+21:24:37.192991,3.104777,-16.425781,2.000000
+21:24:37.396751,3.074097,-16.425781,2.000000
+21:24:37.600523,3.239767,-16.425781,2.000000
+21:24:37.804401,3.362486,-16.425781,2.000000
+21:24:38.008162,3.276583,-16.425781,2.000000
+21:24:38.212000,3.110913,-16.425781,2.000000
+21:24:38.416104,3.098641,-16.425781,2.000000
+21:24:38.619845,3.252039,-16.425781,2.000000
+21:24:38.823609,3.344078,-16.425781,2.000000
+21:24:39.027425,3.258175,-16.425781,2.000000
+21:24:39.231822,3.117049,-16.425781,2.000000
+21:24:39.435720,3.117049,-16.425781,2.000000
+this is a test with speed 1
+timestamp,angle(Radians),position(inches),speed(percentage)
+21:26:03.992735,3.153864,-11.611328,1.000000
+21:26:04.196730,3.086369,-11.611328,1.000000
+21:26:04.400491,3.055690,-10.818359,1.000000
+21:26:04.604225,3.055690,-9.968750,1.000000
+21:26:04.807985,3.086369,-9.119141,1.000000
+21:26:05.011982,3.110913,-8.269531,1.000000
+21:26:05.215941,3.080233,-7.419922,1.000000
+21:26:05.419661,3.043418,-6.683594,1.000000
+21:26:05.623503,3.055690,-6.003906,1.000000
+21:26:05.827343,3.104777,-5.097656,1.000000
+21:26:06.032396,3.123185,-4.021484,1.000000
+21:26:06.236582,3.086369,-2.548828,1.000000
+21:26:06.440336,3.067962,-0.849609,1.000000
+21:26:06.644314,3.098641,1.019531,1.000000
+21:26:06.848124,3.110913,2.775391,1.000000
+21:26:07.051824,3.067962,4.701172,1.000000
+21:26:07.256424,3.055690,6.853516,1.000000
+21:26:07.460299,3.049554,8.269531,1.000000
+21:26:07.664164,3.055690,9.232422,1.000000
+21:26:07.867919,3.086369,10.195312,1.000000
diff --git a/System/samTestScript.py b/System/samTestScript.py
new file mode 100644
index 0000000..5f9312f
--- /dev/null
+++ b/System/samTestScript.py
@@ -0,0 +1,42 @@
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(0,10):
+    angle, linear = sys.measure()
+    print("Angle: " + str(angle) + ", Linear: " + str(linear))
+    sys.add_results(linear, angle, angle)
+    time.sleep(0.2)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
\ No newline at end of file
diff --git a/System/swingUp.py b/System/swingUp.py
index f14ef37..fb5d4c0 100755..100644
--- a/System/swingUp.py
+++ b/System/swingUp.py
@@ -20,16 +20,16 @@ class SwingUpEnv(gym.Env):
 
     Observation: 
         Type: Box(4)
-        Num	Observation                 Min         Max
-        0	Cart Position             -4.8            4.8
-        1	Cart Velocity             -Inf            Inf
-        2	Pole Angle                 -Inf           Inf
-        3	Pole Velocity At Tip      -Inf            Inf
+        Num Observation                 Min         Max
+        0   Cart Position             -4.8            4.8
+        1   Cart Velocity             -Inf            Inf
+        2   Pole Angle                 -Inf           Inf
+        3   Pole Velocity At Tip      -Inf            Inf
         
     Actions:
         Type: Box(1)
-        Num	Action                      Min         Max
-        0	Push cart                   -1          1
+        Num Action                      Min         Max
+        0   Push cart                   -1          1
         
         Note: The amount the velocity that is reduced or increased is not fixed; it depends on the angle the pole is pointing. This is because the center of gravity of the pole increases the amount of energy needed to move the cart underneath it
 
@@ -94,7 +94,7 @@ class SwingUpEnv(gym.Env):
         state = self.state
         x, x_dot, theta, theta_dot = state
         force = self.force_mag * action[0]
-		
+        
         costheta = math.cos(theta)
         sintheta = math.sin(theta)
 
diff --git a/System/system.py b/System/system.py
index 7b2ffcf..ff7c778 100755..100644
--- a/System/system.py
+++ b/System/system.py
@@ -7,6 +7,14 @@ from time import sleep
 import RPi.GPIO as GPIO

 import sys

 import os

+count2 = 0

+##

+import cmath

+##

+

+

+

+

 from threading import Thread, Lock

 

 # IO pin definitions

@@ -15,19 +23,26 @@ motor_speed_pin = 17
 motor_forward_pin = 27

 motor_reverse_pin = 22

 ### Encoder pins (shared by both encoders)

-encoder_clock_pin = 2

-encoder_data_pin = 3

+encoder_clock_pin = 3

+encoder_data_pin = 2

 ### Angular encoder pins

 encoder_angular_cs_pin = 4

 ### Linear encoder pins

-encoder_linear_cs_pin = 14

+encoder_linear_cs_pin = 23

 ### Limit switch pins (configured to PULLUP)

-limit_negative_pin = 19

-limit_positive_pin = 26

+

+#FLIPPING THESE BELOW

+#limit_negative_pin = 19

+#limit_positive_pin = 26

+limit_negative_pin = 26

+limit_positive_pin = 19

 

 # System parameters

 system_max_x = 16.5

 system_min_x = -16.5

+downloads_reference_dest = "."

+default_results_fileName = "results.csv"

+

 

 # System Class

 # This is the primary interface a student will use to control the pendulum.

@@ -74,9 +89,11 @@ class System:
         

         # 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

-        self.result_filename = "Results/" + os.path.basename(sys.argv[0]).split('.')[0] + "_results.csv"

-        

-        result_file = open(self.result_filename, "w+")

+        self.result_filename = downloads_reference_dest + "/Downloads/" + default_results_fileName

+        print("self.result_filename")

+        print(self.result_filename)

+        # Open the file for write mode.  The file contents will get cleared and overwritten

+        result_file = open(self.result_filename, "w")

         result_file.write("timestamp,angle(" + angular_units + "),position(inches),speed(percentage)\n")

         result_file.close()

         

@@ -97,6 +114,7 @@ class System:
     # END __del__()

     

     def initialize(self):

+        print("begin initialize")

         # 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)

         GPIO.remove_event_detect(limit_positive_pin)

@@ -106,8 +124,10 @@ class System:
             pressed = True

             while pressed != False:

                 pressed = GPIO.input(limit_negative_pin)

+                #print(pressed)

                 sleep(0.01)

         self.motor.brake()

+        print("hit negative end stop")

         # Set zero at the negative end of the track for easy reference in determining the extent

         self.encoder_linear.set_zero()

         sleep(1)

@@ -119,6 +139,7 @@ class System:
             pressed = GPIO.input(limit_positive_pin)

             sleep(0.01)

         self.motor.brake()

+        print("hit positive endstop")

         # Get the current position (the extent of the track)

         extent = self.linear_position

         # Move back towards the center until we reach position extent/2

@@ -127,6 +148,7 @@ class System:
         self.motor.move(-4)

         while position >= (extent / 2.):

             position = self.linear_position

+            #print(position)

             sleep(0.015) 

         self.motor.brake()

         # Set zero again: this is the real zero

@@ -134,6 +156,7 @@ class System:
         # Re-enable the limit switch interrupts

         GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback, bouncetime=300)

         GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)

+        print("Finsihed the initaialize func")

     # END initialize

     

     # Return home, cleanup IO. This should be called when exiting the program

@@ -308,9 +331,32 @@ class Linear_Encoder:
         # Reset the internal position counter

         self.rotations = 0.

         self.last_position = 0.

+        ###sam debug

+        self.last_position_filter = 0.

+        ###sam debug

     def read_position(self):

+        ###sam debug

+        global count2

+        test = 0

+        count = 0

+        while test == 0:

+            count += 1

+            position = float(self.encoder.read_position('Raw') & 0b1111111100)

+            complex_current = cmath.exp(((position*2*math.pi)/1023)*1j)

+            complex_last = cmath.exp(((self.last_position*2*math.pi)/1023)*1j)

+            distance = math.sqrt((complex_current.real-complex_last.real)**2 + (complex_current.imag-complex_last.imag)**2)

+            if distance < 0.5 or count > 5: #this corresponds to a difference of 50 in the raw encoder position

+                test = 1

+            #print(count)

+            count2 = count2 + count - 1

+            print("global count")

+            print(count2)

+        ###sam debug

+

         # Read the position of the encoder (apply a noise filter, we don't need that much precision here)

-        position = float(self.encoder.read_position('Raw') & 0b1111111100)

+        #position = float(self.encoder.read_position('Raw') & 0b1111111100)

+

+

         # Compare to last known position

         # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)

         if (position - self.last_position) > 768.:

@@ -322,4 +368,6 @@ class Linear_Encoder:
         self.last_position = position 

         # compute the position based on the system parameters

         # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)

-        return (self.PROPORTION)*(self.rotations + position/1024.)

+        print("sled positin in inches")

+        print(self.PROPORTION*(self.rotations + position/1024.))

+        return((self.PROPORTION)*(self.rotations + position/1024.))

diff --git a/System/system_swingup_test.py b/System/system_swingup_test.py
index e13c7ca..e13c7ca 100755..100644
--- a/System/system_swingup_test.py
+++ b/System/system_swingup_test.py
diff --git a/System/system_swingup_test_2.py b/System/system_swingup_test_2.py
index cb646ef..fc02ed6 100755..100644
--- a/System/system_swingup_test_2.py
+++ b/System/system_swingup_test_2.py
@@ -6,7 +6,14 @@ import math
 from gym import spaces, logger

 from gym.utils import seeding

 

+###

+import sys

+sys.path.insert(0, '/home/pi/pendulum/System')

+###

+

+

 from System.system import System

+#from . import System

 import time

 from sys import exit

 

@@ -103,14 +110,20 @@ class SwingUpEnv():
         self.last_time = current_time

         

         new_theta, new_x = self.sys.measure()

-        theta_dot = (new_theta - theta) / tau

+        if (theta >= 0 and theta < math.pi/2.) and (new_theta > 3.*math.pi/2.):

+            theta_dot = (new_theta - (theta + 2.*math.pi)) / tau

+        elif (new_theta >= 0 and new_theta < math.pi/2.) and (theta > 3.*math.pi/2.):

+            theta_dot = ((new_theta + 2.*math.pi) - theta) / tau

+        else:

+            theta_dot = (new_theta - theta) / tau

         x_dot = (new_x - x) / tau

         self.state = (new_x, x_dot, new_theta, theta_dot)

         self.sys.add_results(new_theta, new_x, force)

 

-        done =  theta_dot < -self.theta_dot_threshold \

+        '''done =  theta_dot < -self.theta_dot_threshold \

                 or theta_dot > self.theta_dot_threshold \

-                or self.done == True

+                or self.done == True'''

+        done = self.done

         

         '''done =  x < -self.x_threshold \

                 or x > self.x_threshold \

@@ -325,7 +338,7 @@ gamma = .95
 agent = deepQagent(5,numActions,20,2,epsilon=5e-2,gamma=gamma,batch_size=20,

                    c= 100,alpha=1e-4)

 

-maxSteps = 2e5

+maxSteps = 2e6

 

 # This is a helper to deal with the fact that x[2] is actually an angle

 x_to_y = lambda x : np.array([x[0], x[1], np.cos(x[2]), np.sin(x[2]), x[3]])

@@ -379,4 +392,4 @@ except:
     exit(-1)

 finally:

     env.end()

-    exit(0)
\ No newline at end of file
+    exit(0)

diff --git a/System/test_Encoder.py b/System/test_Encoder.py
index d0b7ef8..bb6e3e4 100755..100644
--- a/System/test_Encoder.py
+++ b/System/test_Encoder.py
@@ -3,9 +3,9 @@ import time
 import RPi.GPIO as GPIO
 
 # Decide which pins to hook up to on the Pi before running
-clk_pin = 2
-cs_pin  = 4
-data_pin = 3
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
 
 e = Encoder(clk_pin, cs_pin, data_pin)
 e.set_zero()
@@ -19,3 +19,5 @@ except:
 finally:
     # Perform GPIO cleanup. Things may get weird otherwise...
     GPIO.cleanup()
+
+
diff --git a/System/test_Motor.py b/System/test_Motor.py
index f48b6ee..f48b6ee 100755..100644
--- a/System/test_Motor.py
+++ b/System/test_Motor.py
diff --git a/System/test_Return_Home.py b/System/test_Return_Home.py
index 244f99f..04e19cb 100755..100644
--- a/System/test_Return_Home.py
+++ b/System/test_Return_Home.py
@@ -2,8 +2,11 @@ from system import System
 from time import sleep

         

 # Main program

+#print("before system()call")

 sys = System()

+#print("after system() call")

 sys.initialize()

+#print("after sys.inintalize called")

 

 ang,lin = sys.measure()

 print("Starting position before moving: " + str(lin))

diff --git a/System/test_System.py b/System/test_System.py
index c05affc..c05affc 100755..100644
--- a/System/test_System.py
+++ b/System/test_System.py