6 files changed, 207 insertions, 0 deletions
diff --git a/System/Tests/donovanTestScript.py b/System/Tests/donovanTestScript.py
new file mode 100644
index 0000000..4a51f08
--- /dev/null
+++ b/System/Tests/donovanTestScript.py
@@ -0,0 +1,81 @@
+
+
+
+
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+###
+sys.path.insert(0, '/home/pi/pendulum/System')
+from encoder import Encoder
+import RPi.GPIO as GPIO
+
+
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+###
+
+
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(4,20):
+    linear = 0
+    
+    print("beginning of test with speed " + str(x))
+    
+    while linear > -7:
+        sys.adjust(-5)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        time.sleep(0.1)
+    sys.adjust(0)
+    time.sleep(3)    
+    sys.add_log("this is a test with speed " + str(x))
+    
+    while linear < 7:
+        sys.adjust(x)
+        angle, linear = sys.measure()
+        print("Angle: " + str(angle) + ", Linear: " + str(linear))
+        sys.add_results(e.read_position('Degrees'), linear, x)
+        time.sleep(0.1)
+    sys.adjust(0)    
+    print("end of test with speed " + str(x))
+    time.sleep(3)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
diff --git a/System/Tests/samTestScript.py b/System/Tests/samTestScript.py
new file mode 100644
index 0000000..5f9312f
--- /dev/null
+++ b/System/Tests/samTestScript.py
@@ -0,0 +1,42 @@
+
+import sys
+sys.path.insert(0, '/home/pi/pendulum/System')
+from System.system import System
+import time
+from sys import exit
+#import pandas
+
+
+sys = System(angular_units = 'Radians')
+
+for x in range(0,10):
+    angle, linear = sys.measure()
+    print("Angle: " + str(angle) + ", Linear: " + str(linear))
+    sys.add_results(linear, angle, angle)
+    time.sleep(0.2)
+    
+
+exit()
+
+
+
+
+
+
+
+
+#class test():
+#    def __init__(self, x, theta):
+#        self.x = 0
+#        self.theta = 0
+#
+#    def getINFO(self, theta):
+#        #theta, x = self.System.measure()
+#        theta, x = self.sys.measure()
+#
+#while(1):
+#    test.getINFO()
+#    print("t")
+#    #print("theta",test.theta)
+#    #print("x",test.x)
+#
+\ No newline at end of file
diff --git a/System/Tests/test_Encoder.py b/System/Tests/test_Encoder.py
new file mode 100644
index 0000000..bb6e3e4
--- /dev/null
+++ b/System/Tests/test_Encoder.py
@@ -0,0 +1,23 @@
+from encoder import Encoder
+import time
+import RPi.GPIO as GPIO
+
+# Decide which pins to hook up to on the Pi before running
+clk_pin = 3
+cs_pin  = 23
+data_pin = 2
+
+e = Encoder(clk_pin, cs_pin, data_pin)
+e.set_zero()
+
+try:
+    while(1):
+        print(e.read_position('Degrees'))
+        time.sleep(0.001)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    # Perform GPIO cleanup. Things may get weird otherwise...
+    GPIO.cleanup()
+
+
diff --git a/System/Tests/test_Motor.py b/System/Tests/test_Motor.py
new file mode 100644
index 0000000..f48b6ee
--- /dev/null
+++ b/System/Tests/test_Motor.py
@@ -0,0 +1,29 @@
+from motor import Motor
+import time
+import RPi.GPIO as GPIO
+
+# Decide which pins to hook up to on the Pi before running
+speed_pin = 17
+forward_pin = 27
+reverse_pin = 22
+
+m = Motor(speed_pin, forward_pin, reverse_pin)
+
+dir = 'ascending'
+speed = 0.0
+try:
+    while 1:
+        if speed >= 15.0:
+            dir = 'descending'
+        elif speed <= -15.0:
+            dir = 'ascending'
+        if dir == 'ascending':
+            speed = speed + 2.0
+        else:
+            speed = speed - 2.0
+        m.move(speed)
+        time.sleep(0.1)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    GPIO.cleanup()
+\ No newline at end of file
diff --git a/System/Tests/test_Return_Home.py b/System/Tests/test_Return_Home.py
new file mode 100644
index 0000000..04e19cb
--- /dev/null
+++ b/System/Tests/test_Return_Home.py
@@ -0,0 +1,19 @@
+from system import System
+from time import sleep
+        
+# Main program
+#print("before system()call")
+sys = System()
+#print("after system() call")
+sys.initialize()
+#print("after sys.inintalize called")
+
+ang,lin = sys.measure()
+print("Starting position before moving: " + str(lin))
+sys.adjust(4)
+ang,lin = sys.measure()
+sleep(0.01)
+while lin < 10:
+    ang,lin = sys.measure()
+    sleep(0.01)
+sys.return_home()
diff --git a/System/Tests/test_System.py b/System/Tests/test_System.py
new file mode 100644
index 0000000..c05affc
--- /dev/null
+++ b/System/Tests/test_System.py
@@ -0,0 +1,13 @@
+# This test file implements a super simple control-type function for testing the System library.
+# DO NOT TEST ON ASSEMBLED PHYSICAL SYSTEM! It will probably break it.
+import time
+
+from System.system import System
+        
+# Main program
+sys = System(angular_units = 'Radians')
+while 1:
+    angle, linear = sys.measure()
+    print("Angle: " + str(angle) + ", Linear: " + str(linear))
+    time.sleep(0.2)
+