1 files changed, 8 insertions, 1 deletions
diff --git a/System/system.py b/System/system.py
index 8dd9f38..7b2ffcf 100755
--- a/System/system.py
+++ b/System/system.py
@@ -20,7 +20,7 @@ encoder_data_pin = 3
 ### Angular encoder pins
 encoder_angular_cs_pin = 4
 ### Linear encoder pins
-encoder_linear_cs_pin = 14 
+encoder_linear_cs_pin = 14
 ### Limit switch pins (configured to PULLUP)
 limit_negative_pin = 19
 limit_positive_pin = 26
@@ -89,6 +89,13 @@ class System:
         self.encoder_thread.start()
     # END __init__()
     
+    # Destructor
+    # Brake the motor and call GPIO.cleanup as a last-chance of doing so
+    def __del__(self):
+        self.motor.brake()
+        GPIO.cleanup()
+    # END __del__()
+    
     def initialize(self):
         # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
         GPIO.remove_event_detect(limit_negative_pin)