A few more minor tweaks to initialization. Added public variables for linear extent. Tested initialization on functioning system - it works!

1 files changed, 16 insertions, 7 deletions

diff --git a/System_Python/system.py b/System_Python/system.py
index 078c1f9..8f67872 100644
--- a/System_Python/system.py
+++ b/System_Python/system.py
@@ -23,10 +23,18 @@ encoder_linear_cs_pin = 14
 limit_negative_pin = 19

 limit_positive_pin = 26

 

+# System parameters

+system_max_x = 16.5

+system_min_x = -16.5

+

 # System Class

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

 class System:

     def __init__(self, negative_limit=float('nan'), positive_limit=float('nan')):

+        GPIO.setwarnings(False)

+        # Initialize public variables

+        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)

         # Initialize the angular encoder.

@@ -70,7 +78,7 @@ class System:
         GPIO.remove_event_detect(limit_positive_pin)

         # Begin moving slowly in the negative direction until the negative limit switch is triggered

         if not GPIO.input(limit_negative_pin) == False:

-            self.motor.move(-1)

+            self.motor.move(-4)

             pressed = True

             while pressed != False:

                 pressed = GPIO.input(limit_negative_pin)

@@ -80,7 +88,7 @@ class System:
         self.encoder_linear.set_zero()

         sleep(1)

         # Begin moving slowly in the positive direction until the positive limit switch is triggered

-        self.motor.move(1)

+        self.motor.move(4)

         pressed = True

         while pressed != False:

             # We must continue reading linear encoder motion to keep track of rotations

@@ -94,7 +102,7 @@ class System:
         # Move back towards the center until we reach position extent/2

         position = extent

         sleep(1)

-        self.motor.move(-1)

+        self.motor.move(-4)

         while position >= (extent / 2.):

             position = self.encoder_linear.read_position()

             sleep(0.01) 

@@ -171,9 +179,9 @@ class System:
         position = self.encoder_linear.read_position()

         # slowly move towards 0 until we get there

         if position > 0:

-            self.motor.move(-1)

+            self.motor.move(-4)

         elif position < 0:

-            self.motor.move(1)

+            self.motor.move(4)

         while not position == 0:

             position = self.encoder_linear.read_position()

         self.motor.brake()

@@ -181,6 +189,7 @@ class System:
     

     # Callback for when negative limit switch is triggered.

     def negative_limit_callback(self, channel):

+        self.motor.brake()

         # Print negative limit trigger to the results file.

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

         result_file.write("Negative hardware limit has been reached!")

@@ -190,6 +199,7 @@ class System:
     # END negative_limit_callback

     # Callback for when positive limit switch is triggered.

     def positive_limit_callback(self, channel):

+        self.motor.brake()

         # Print positive limit trigger to the results file.

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

         result_file.write("Positive hardware limit has been reached!")

@@ -198,8 +208,7 @@ class System:
         self.limit_triggered()

     # END positive_limit_callback

     def limit_triggered(self):

-        self.motor.brake()

-        sleep(2)

+        sleep(1)

         self.return_home()

         sys.exit(1)

 # END System