diff options
Diffstat (limited to '')
| -rw-r--r-- | System/system.py (renamed from System_Python/system.py) | 20 |
1 files changed, 16 insertions, 4 deletions
diff --git a/System_Python/system.py b/System/system.py index b5a68cc..58ba541 100644 --- a/System_Python/system.py +++ b/System/system.py @@ -6,6 +6,7 @@ from datetime import datetime from time import sleep
import RPi.GPIO as GPIO
import sys
+import os
# IO pin definitions
### Motor pins
@@ -67,7 +68,7 @@ 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 = "/home/pi/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ self.result_filename = "Results/" + os.path.basename(sys.argv[0]).split('.')[0] + "_results.csv"
result_file = open(self.result_filename, "w+")
result_file.write("angle(" + angular_units + "),position(inches),speed(percentage)\n")
@@ -94,7 +95,7 @@ class System: pressed = True
while pressed != False:
# We must continue reading linear encoder motion to keep track of rotations
- self.encoder_linear.read_position()
+ position = self.encoder_linear.read_position()
pressed = GPIO.input(limit_positive_pin)
sleep(0.01)
#GPIO.wait_for_edge(limit_positive_pin, GPIO.FALLING)
@@ -116,6 +117,12 @@ class System: GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)
# END initialize
+ # Return home, cleanup IO. This should be called when exiting the program
+ def deinitialize(self):
+ self.return_home()
+ self.motor.brake()
+ GPIO.cleanup()
+
# 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.
@@ -185,11 +192,16 @@ class System: self.motor.move(-4)
while position > 0:
position = self.encoder_linear.read_position()
+ sleep(0.01)
+ self.motor.brake()
+ return
elif position < 0:
self.motor.move(4)
while position < 0:
position = self.encoder_linear.read_position()
- self.motor.brake()
+ sleep(0.01)
+ self.motor.brake()
+ return
# END return_home
# Callback for when negative limit switch is triggered.
@@ -214,7 +226,7 @@ class System: # END positive_limit_callback
def limit_triggered(self):
sleep(1)
- self.return_home()
+ self.deinitialize()
sys.exit(1)
# END System
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