diff options
| -rw-r--r-- | System/system.py | 28 |
1 files changed, 16 insertions, 12 deletions
diff --git a/System/system.py b/System/system.py index ce1d55e..dab8c06 100644 --- a/System/system.py +++ b/System/system.py @@ -51,6 +51,7 @@ class System: GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback)
GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback)
+ self.interrupted = False
# 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).
@@ -161,18 +162,19 @@ class System: ##### Negative values will move the pendulum to the left.
##### Positive values will move the pendulum to the right.
def adjust(self, speed):
- if speed != 0:
- # cap the speed inputs
- if speed > 100.:
- speed = 100.
- if speed < -100.:
- speed = -100.
- # 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)
- else:
- self.motor.coast()
+ if self.interrupted == False:
+ if speed != 0:
+ # cap the speed inputs
+ if speed > 100.:
+ speed = 100.
+ if speed < -100.:
+ speed = -100.
+ # 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)
+ else:
+ self.motor.coast()
# END adjust()
# Append data to the results file
@@ -209,6 +211,7 @@ class System: # Callback for when negative limit switch is triggered.
def negative_limit_callback(self, channel):
+ self.interrupted = True
self.motor.brake()
# Print negative limit trigger to the results file.
result_file = open(self.result_filename, "a")
@@ -219,6 +222,7 @@ class System: # END negative_limit_callback
# Callback for when positive limit switch is triggered.
def positive_limit_callback(self, channel):
+ self.interrupted = True
self.motor.brake()
# Print positive limit trigger to the results file.
result_file = open(self.result_filename, "a")
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