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* Refactor speed to torqueMatt Strapp2022-02-241-18/+18
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Fix the tests so they actually workMatt Strapp2022-02-188-31/+9
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Bump setuptools from 59.6.0 to 60.9.3 in /System (#1)dependabot[bot]2022-02-181-1/+1
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* Add requirements, force tests in specific dirMatt Strapp2022-02-189-256/+8
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* uppercase to lowercaseMatt Strapp2022-02-181-1/+1
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Change package name for consistencyMatt Strapp2022-02-1811-0/+0
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Hopefully get the system able to be packagedMatt Strapp2022-02-1819-2/+21
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Change git repo to organization reposMatt Strapp2022-02-185-420/+2
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Fix typos and Python 3.9 problemsMatt Strapp2022-02-171-3/+3
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Maybe, possibly, maybe, fix thingsMatt Strapp2022-02-171-7/+7
| | | | Signed-off-by: Matt Strapp <matt@mattstrapp.net>
* Add code that was not committed beforeMatt Strapp2022-01-2722-27/+945
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* Update test files to do GPIO cleanup on completion (ex: encoders don't work ↵Raspberry Pi2019-12-024-15/+37
| | | | if GPIO.cleanup is not performed). Add system destructor and add GPIO.cleanup to that too. Everything appears to be working still.
* Minor tweaks to PI.py to get working seamlessly with web server - tested and ↵Raspberry Pi2019-12-0213-1/+1
| | | | working as expected. Most files touched because permissions were modified to allow PI.py to run on startup. Everything should be ready now.
* Improve logging: add timestamps for each log. Add a new function to add ↵Raspberry Pi2019-11-262-7/+23
| | | | 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 Pi2019-11-262-60/+77
| | | | 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.
* Modify test_System to verify that threaded encoder measurements are working ↵damic0142019-11-261-11/+3
| | | | as expected. Run this to check before actually running the system.
* Add encoder measurements via thread. This should help with linear encoder ↵damic0142019-11-262-12/+49
| | | | | | | 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.
* Fix indentation, add symlink for System folder. Seems to be working as ↵Raspberry Pi2019-11-262-1/+2
| | | | expected. Commiting to merge to master - will need more testing before we know if it's a perfect solution.
* Add interrupt flags so that motor cannot be triggered once the HW interrupt ↵damic0142019-11-261-12/+16
| | | | | | 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...)
* Added Andy's new swingup code. New issues with physical system: rod bearing ↵Raspberry Pi2019-11-212-16/+380
| | | | 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.
* Fixed file imports to work with working directory of server.Raspberry Pi2019-11-211-2/+2
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* Rework directory structure. Modify result file printing to match ↵Raspberry Pi2019-11-2012-0/+1337
requirements of web server.
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