Got limit switches working properly and tested. Got result file printout working properly. Other minor issues from merge conflict.

1 files changed, 9 insertions, 7 deletions

diff --git a/System_Python/system.py b/System_Python/system.py
index de9a8d1..469f475 100644
--- a/System_Python/system.py
+++ b/System_Python/system.py
@@ -5,6 +5,7 @@ import math
 from datetime import datetime

 from time import sleep

 import RPi.GPIO as GPIO

+import sys

 

 # IO pin definitions

 ### Motor pins

@@ -38,16 +39,16 @@ class System:
         

         # Enable hardware interrupts for hardware limit switches

         GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)

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

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

         GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)

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

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

         

         # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).

         # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).

         self.negative_soft_limit = negative_limit

         self.positive_soft_limit = positive_limit

         # If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)

-        if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit

+        if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit:

             print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")

             self.negative_soft_limit = float('nan')

             self.positive_soft_limit = float('nan')

@@ -56,7 +57,8 @@ 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 = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"

+        self.result_filename = "/home/pi/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"

+        

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

         result_file.write("angle(degrees),position(inches),speed(percentage)\n")

         result_file.close()

@@ -88,8 +90,8 @@ class System:
         # Set zero again: this is the real zero

         self.encoder_linear.set_zero()

         # Re-enable the limit switch interrupts

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

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

+        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)

     # END initialize

     

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

@@ -222,4 +224,4 @@ 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 (PROPORTION)*(self.rotations + position/1024)

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