ee4511w - Spring 2022

	Commit message (Collapse)	Author	Files	Lines
2019-11-29	some aesthetics	Dat Nguyen	7	-58/+90

2019-11-26	Improve logging: add timestamps for each log. Add a new function to add ↵	Raspberry Pi	2	-7/+23
	other messages to the log file. Update swingup test to use new logging behavior.
2019-11-26	Got threading and SW limits working really well. Still might be some ↵	Raspberry Pi	2	-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.
2019-11-26	Modify test_System to verify that threaded encoder measurements are working ↵	damic014	1	-11/+3
	as expected. Run this to check before actually running the system.
2019-11-26	Add encoder measurements via thread. This should help with linear encoder ↵	damic014	2	-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.
2019-11-26	Fix indentation, add symlink for System folder. Seems to be working as ↵	Raspberry Pi	2	-1/+2
	expected. Commiting to merge to master - will need more testing before we know if it's a perfect solution.
2019-11-26	Add interrupt flags so that motor cannot be triggered once the HW interrupt ↵	damic014	1	-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...)
2019-11-21	Added Andy's new swingup code. New issues with physical system: rod bearing ↵	Raspberry Pi	2	-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.
2019-11-21	Fixed file imports to work with working directory of server.	Raspberry Pi	1	-2/+2