diff options
Diffstat (limited to 'System/system.py')
| -rw-r--r-- | System/system.py | 35 |
1 files changed, 19 insertions, 16 deletions
diff --git a/System/system.py b/System/system.py index 3da13f7..ce1d55e 100644 --- a/System/system.py +++ b/System/system.py @@ -48,9 +48,9 @@ class System: # Enable hardware interrupts for hardware limit switches
GPIO.setup(limit_negative_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
- GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback, bouncetime=300)
+ 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, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback)
# 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).
@@ -139,14 +139,14 @@ class System: angular_position = angular_position - 360.
linear_position = self.encoder_linear.read_position()
# Check soft limits
- if not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit:
+ if (not math.isnan(self.negative_soft_limit) and linear_position < self.negative_soft_limit) or linear_position < self.min_x:
# Print negative soft limit violation to the results file.
result_file = open(self.result_filename, "a")
result_file.write("Negative software limit %f has been reached!" % self.negative_soft_limit)
result_file.close()
# Fire the limit trigger method (stops motor, kills program immediately).
self.limit_triggered()
- if not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit:
+ if (not math.isnan(self.positive_soft_limit) and linear_position > self.positive_soft_limit) or linear_position > self.max_x:
# Print positive soft limit violation to the results file.
result_file = open(self.result_filename, "a")
result_file.write("Positive software limit %f has been reached!" % self.positive_soft_limit)
@@ -161,15 +161,18 @@ class System: ##### Negative values will move the pendulum to the left.
##### Positive values will move the pendulum to the right.
def adjust(self, speed):
- # 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)
+ 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
@@ -195,7 +198,7 @@ class System: sleep(0.01)
self.motor.brake()
return
- elif position < 0:
+ else:
self.motor.move(4)
while position < 0:
position = self.encoder_linear.read_position()
@@ -209,7 +212,7 @@ class System: self.motor.brake()
# Print negative limit trigger to the results file.
result_file = open(self.result_filename, "a")
- result_file.write("Negative hardware limit has been reached!")
+ result_file.write("Negative hardware limit has been reached!\n")
result_file.close()
# Fire the limit trigger method (stops motor, kills program immediately).
self.limit_triggered()
@@ -219,7 +222,7 @@ class System: self.motor.brake()
# Print positive limit trigger to the results file.
result_file = open(self.result_filename, "a")
- result_file.write("Positive hardware limit has been reached!")
+ result_file.write("Positive hardware limit has been reached!\n")
result_file.close()
# Fire the limit trigger method (stops motor, kills program immediately).
self.limit_triggered()
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