diff options
Diffstat (limited to 'System_Python/system.py')
| -rw-r--r-- | System_Python/system.py | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/System_Python/system.py b/System_Python/system.py index b5a68cc..c6145ce 100644 --- a/System_Python/system.py +++ b/System_Python/system.py @@ -94,7 +94,7 @@ 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 +116,12 @@ 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 +191,16 @@ 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 +225,7 @@ class System: # END positive_limit_callback
def limit_triggered(self):
sleep(1)
- self.return_home()
+ self.deinitialize()
sys.exit(1)
# END System
|