1 files changed, 0 insertions, 77 deletions
diff --git a/System/Pendulum/encoder.py b/System/Pendulum/encoder.py
deleted file mode 100644
index ece7fd1..0000000
--- a/System/Pendulum/encoder.py
+++ /dev/null
@@ -1,77 +0,0 @@
-# Import required modules
-import RPi.GPIO as GPIO
-import time
-import math
-
-# Constants: parameters that the caller cannot modify
-# Delay: Minimum delay necessary after pull pin low to read input
-delay = 0.0000005
-
-# Encoder Class
-# This controls the motor at the given IO
-class Encoder:
-    def __init__(self, clk_pin, cs_pin, data_pin):
-        # Set the board IO (just in case it hasn't been done yet)
-        GPIO.setmode(GPIO.BCM)
-        # Setup class varaiable
-        self.offset = 0
-        self.clk_pin = clk_pin
-        self.cs_pin = cs_pin
-        self.data_pin = data_pin
-        # Setup the IO
-        try:
-            GPIO.setup(self.clk_pin, GPIO.OUT)
-            GPIO.setup(self.cs_pin, GPIO.OUT)
-            GPIO.setup(self.data_pin, GPIO.IN)
-            # Setup the CS and CLK to be high
-            GPIO.output(PIN_CLK, 1)
-            GPIO.output(PIN_CS, 1)
-        except:
-            # If this fails, it's likely because the IO has already been configured. The encoders share some pins. Ignore the failure
-            time.sleep(0.01) # Used just to have something in the exception catch
-            #print("ERROR. Unable to setup the configuration required")
-        # Wait some time to before reading
-        time.sleep(0.5)
-    def set_zero(self, offset = 0):
-        # Take current position as zero
-        pos = self.read_position('Raw')
-        self.offset = (self.read_position('Raw') + self.offset + offset) % 1024
-    def clockup(self):
-        GPIO.output(self.clk_pin, 1)
-    def clockdown(self):
-        GPIO.output(self.clk_pin, 0)
-    def read_position(self, format):
-        # Most of this is based of timing diagram of encoder
-        # Pull CS low to start reading
-        GPIO.output(self.cs_pin, 0) 
-        # Delay necessary before reading is ready
-        time.sleep(delay*2)
-        data = 0
-        # Clockdown necessary before reading 
-        self.clockdown()
-        # Go through 10 bits needed to read
-        for i in range(0, 10): 
-            # Clock up to start reading one bit
-            self.clockup()
-            # Shift data left and insert input 
-            data <<= 1  
-            data |= GPIO.input(self.data_pin)
-            # Clock down after finish reading
-            self.clockdown()
-        # Pull CS high after finish reading
-        GPIO.output(self.cs_pin, 1)
-        # Format with offset, Max is 1024
-        data = (data - self.offset) % 1024
-        # Data is linearly mapped
-        if format=="Raw":
-            return data
-        elif format == "Degrees":
-            degrees = (data/1024.0) * 360.0
-            return degrees
-        elif format == "Radians":
-            radians = (data/1024.0) * (2.0*math.pi)
-            return radians
-        else:
-            print("ERROR. Invalid format (Raw, Degrees, Radians)")
-            return None
-