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Diffstat (limited to 'System_Python/system_BASE_2371.py')
| -rw-r--r-- | System_Python/system_BASE_2371.py | 102 |
1 files changed, 0 insertions, 102 deletions
diff --git a/System_Python/system_BASE_2371.py b/System_Python/system_BASE_2371.py deleted file mode 100644 index 1e532fa..0000000 --- a/System_Python/system_BASE_2371.py +++ /dev/null @@ -1,102 +0,0 @@ -#!/usr/bin/env python
-from motor import Motor
-from encoder import Encoder
-import math
-
-# IO pin definitions
-### Motor pins
-motor_speed_pin = 17
-motor_forward_pin = 27
-motor_reverse_pin = 22
-### Encoder pins (shared by both encoders)
-encoder_clock_pin = 2
-encoder_data_pin = 3
-### Angular encoder pins
-encoder_angular_cs_pin = 4
-### Linear encoder pins
-encoder_linear_cs_pin = 5
-
-
-# System Class
-# This is the primary interface a student will use to control the pendulum.
-class System:
- def __init__(self):
- # Initialize the motor.
- self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
- # Initialize the angular encoder.
- self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
- self.encoder_angular.set_zero()
- # Initialize the linear encoder.
- self.encoder_linear = Linear_Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
- self.encoder_linear.set_zero()
- # END __init__()
-
- # 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.
- ##### 180 or -180 indicate the pendulum is exactly straight down.
- ##### Positive values indicate the pendulum is leaning to the right.
- ##### Negative values indicate the pendulum is leaning to the left.
- ### linear: 0 indicates the pendulum is exactly in the middle of the track.
- ##### Positive values indicate the pendulum is right-of-center.
- ##### Negative values indicate the pendulum is left-of-center.
- def measure(self):
- angular_position = self.encoder_angular.read_position('Degrees')
- if angular_position > 180:
- angular_position = angular_position - 360
- #linear_position = self.encoder_linear.read_position()
- linear_position = 0
- return (angular_position, linear_position)
- # END measure()
-
- # Adjust the pendulum's linear position using the motor.
- ### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
- ##### 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 > 100.0:
- speed = 100.0
- if speed < -100.0:
- speed = -100.0
- # 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)
- # END adjust()
-# END System
-
-# Linear Encoder class
-# This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
-# The function definitions here are the same as with the regular encoder (pseudo-interface).
-class Linear_Encoder:
- DIAMETER = 4.0 # MEASURE THIS
-
- def __init__(self, clk_pin, cs_pin, data_pin):
- self.encoder = Encoder(clk_pin, cs_pin, data_pin)
- self.set_zero()
- def set_zero(self):
- # Set the zero position for the encoder
- self.encoder.set_zero()
- # Reset the internal position counter
- self.rotations = 0
- self.last_position = 0
- def read_position(self):
- # Read the position of the encoder
- position = self.encoder.read_position('Raw')
- # Compare to last known position
- # NOTE: For now, assume that we are moving the smallest possible distance (i.e. 5 -> 1 is -4, not 1020)
- if position - self.last_position > 0:
- if position < 512 and self.last_position > 512:
- # We are moving to the right (positive) and have completed a new rotation
- self.rotations = self.rotations + 1
- else:
- if position > 512 and self.last_position < 512:
- # We are moving to the left (negative) and have completed a new rotation
- self.rotations = self.rotations - 1
- # Save the last position for the next calculation
- 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 (math.pi*DIAMETER)*(self.rotations + position/1024)
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