diff options
Diffstat (limited to 'System_Python/system.py')
| -rw-r--r-- | System_Python/system.py | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/System_Python/system.py b/System_Python/system.py index de9a8d1..469f475 100644 --- a/System_Python/system.py +++ b/System_Python/system.py @@ -5,6 +5,7 @@ import math from datetime import datetime
from time import sleep
import RPi.GPIO as GPIO
+import sys
# IO pin definitions
### Motor pins
@@ -38,16 +39,16 @@ 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=negative_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback, bouncetime=300)
GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
- GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)
# 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).
self.negative_soft_limit = negative_limit
self.positive_soft_limit = positive_limit
# If both limits have been defined, verify that they are valid (i.e. positive limit must be greater than the negative limit)
- if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit
+ if not math.isnan(negative_limit) and not math.isnan(positive_limit) and not negative_limit < positive_limit:
print("ERROR: Invalid software limits provided. Must be valid floating-point numbers and positive limit must be greater than negative limit. Software limits will be disabled.")
self.negative_soft_limit = float('nan')
self.positive_soft_limit = float('nan')
@@ -56,7 +57,8 @@ 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 = "~/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+ self.result_filename = "/home/pi/test_results/" + datetime.now().strftime("%d-%m-%Y_%H:%M:%S") + ".csv"
+
result_file = open(self.result_filename, "w+")
result_file.write("angle(degrees),position(inches),speed(percentage)\n")
result_file.close()
@@ -88,8 +90,8 @@ class System: # Set zero again: this is the real zero
self.encoder_linear.set_zero()
# Re-enable the limit switch interrupts
- GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=negative_limit_callback, bouncetime=300)
- GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=positive_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback, bouncetime=300)
+ GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback, bouncetime=300)
# END initialize
# Get the values of the encoders to determine the angular and linear position of the pendulum.
@@ -222,4 +224,4 @@ class Linear_Encoder: self.last_position = position
# compute the position based on the system parameters
# linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
- return (PROPORTION)*(self.rotations + position/1024)
+ return (self.PROPORTION)*(self.rotations + position/1024)
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