Remove leftover files from a past merge.

1 files changed, 0 insertions, 102 deletions

diff --git a/System_Python/system_BASE_2371.py b/System_Python/system_BASE_2371.py
deleted file mode 100644
index 1e532fa..0000000
--- a/System_Python/system_BASE_2371.py
+++ /dev/null
@@ -1,102 +0,0 @@
-#!/usr/bin/env python

-from motor import Motor

-from encoder import Encoder

-import math

-

-# IO pin definitions

-### Motor pins

-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

-### Angular encoder pins

-encoder_angular_cs_pin = 4

-### Linear encoder pins

-encoder_linear_cs_pin = 5

-

-

-# System Class

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

-class System:

-    def __init__(self):

-        # Initialize the motor.

-        self.motor = Motor(motor_speed_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()

-        # Initialize the linear encoder.

-        self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)

-        self.encoder_linear.set_zero()

-    # END __init__()

-    

-    # Get the values of the encoders to determine the angular and linear position of the pendulum.

-    # Values are returned as a tuple: (angle, linear).

-    ### angle: 0 indicates the pendulum is exactly straight up.

-    #####      180 or -180 indicate the pendulum is exactly straight down.

-    #####      Positive values indicate the pendulum is leaning to the right.

-    #####      Negative values indicate the pendulum is leaning to the left.

-    ### linear: 0 indicates the pendulum is exactly in the middle of the track.

-    #####       Positive values indicate the pendulum is right-of-center.

-    #####       Negative values indicate the pendulum is left-of-center.

-    def measure(self):

-        angular_position = self.encoder_angular.read_position('Degrees')

-        if angular_position > 180:

-            angular_position = angular_position - 360

-        #linear_position = self.encoder_linear.read_position()

-        linear_position = 0

-        return (angular_position, linear_position)

-    # END measure()

-    

-    # 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.

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

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

-    def adjust(self, speed):

-        # cap the speed inputs

-        if speed > 100.0:

-            speed = 100.0

-        if speed < -100.0:

-            speed = -100.0

-        # 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.

-        self.motor.coast()

-        self.motor.move(speed)

-    # END adjust()

-# END System

-

-# Linear Encoder class

-# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.

-# The function definitions here are the same as with the regular encoder (pseudo-interface).

-class Linear_Encoder:

-    DIAMETER = 4.0 # MEASURE THIS

-    

-    def __init__(self, clk_pin, cs_pin, data_pin):

-        self.encoder = Encoder(clk_pin, cs_pin, data_pin)

-        self.set_zero()

-    def set_zero(self):

-        # Set the zero position for the encoder

-        self.encoder.set_zero()

-        # Reset the internal position counter

-        self.rotations = 0

-        self.last_position = 0

-    def read_position(self):

-        # Read the position of the encoder 

-        position = self.encoder.read_position('Raw')

-        # 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 > 0:

-            if position < 512 and self.last_position > 512:

-                # We are moving to the right (positive) and have completed a new rotation

-                self.rotations = self.rotations + 1

-        else:

-            if position > 512 and self.last_position < 512:

-                # We are moving to the left (negative) and have completed a new rotation

-                self.rotations = self.rotations - 1

-        # Save the last position for the next calculation

-        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 (math.pi*DIAMETER)*(self.rotations + position/1024)