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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.
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as expected. Run this to check before actually running the system.
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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.
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expected. Commiting to merge to master - will need more testing before we know if it's a perfect solution.
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has been fired. This should help with the occasional issue where the ISR thread is interrupted and moves back to the primary thread where movements continue.
May need to add another line in adjust() that if interrupted==True then coast the motor (not sure what the ramifications of this would be though: if in the process of going home and thread switches back, it might not get all the way home...)
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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.
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requirements of web server.
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