ee4511w - Spring 2022

	Commit message (Collapse)	Author	Age	Files	Lines
*	Improve logging: add timestamps for each log. Add a new function to add ↵	Raspberry Pi	2019-11-26	1	-1/+6
\| \| \| \|	other messages to the log file. Update swingup test to use new logging behavior.
*	Got threading and SW limits working really well. Still might be some ↵	Raspberry Pi	2019-11-26	1	-6/+9
\| \| \| \|	shakiness on deinitialization (need to coordinate GPIO.cleanup with threads), but program does exit and return home normally. Swingup test now runs very smooth and SW limits were increased with the drastically improved response time. Pushing to merge back to master.
*	Add encoder measurements via thread. This should help with linear encoder ↵	damic014	2019-11-26	1	-4/+17
\| \| \| \| \| \| \|	accuracy and SW interrupt accuracy. Coupled with changes from the interrupt enhancement branch, the limit behavior should be much improved. Added a parameter to allow user to set their own SW limit-reached routine (default behavior is still the same). This should also help prevent over-excursion in the swingup test. Slightly modified swingup test to use new SW limit-reached routine. This should help prevent the system from over-excursing when the soft limits of the program are reached. Theoretically the program shouldn't be able to hit the HW limits anymore.
*	Added Andy's new swingup code. New issues with physical system: rod bearing ↵	Raspberry Pi	2019-11-21	1	-0/+361
	keeps coming loose if the speed is changed too quickly, rod will hit base if swinging too near extents (need to cut wood on both sides to allow free swinging.