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2019-11-21Update Server.pyDat Nguyen1-1/+3
2019-11-21a bunch of placeholder filesDat Nguyen4-2/+0
2019-11-21tabs to spaces smhDat Nguyen2-42/+59
2019-11-21removed unnecessaryDat Nguyen1-2/+2
2019-11-21fixed spaceDat Nguyen1-2/+3
2019-11-21working web stuff with running pageDat Nguyen10-80/+91
2019-11-21Update PI.pybutoi0011-2/+6
2019-11-20Web stuff semi workingDat Nguyen10-0/+189
2019-11-16Remove leftover files from a past merge.Raspberry Pi4-673/+0
2019-11-16Updated encoder to have an offset when zeroing (allows that initial zero can ↵Raspberry Pi3-40/+47
be set to upright instead of hanging). Updated system to allow for different angular units to be used (passed by argument on constructor, then passed to encoder.read_position when used). Bug fixes to system_swingup_test. Swingup test now runs properly (and almost actually did a swing up at one point), couldn't keep testing because the system accidentally destroyed itself, so called it time to stop to let glue dry....
2019-11-16Fixed some indentation issues and leftover from porting. Compiles and ↵Raspberry Pi1-12/+12
potentially runs now.
2019-11-14Add Andy's swing up code to the Python library. Created a new file ↵damic0143-0/+832
(system_swingup_test.py), which modifies the code from homework8.ipynb and swingUp.py to (potentially) run on our physical system instead of the simulator. Needs to be compiled and tested on the RPi, but theoretically all of the major components should be there. NOTE: Potentially should remove the gym imports; not sure if these will work on the RPi, might need to be replaced with something else.
2019-11-14A few more minor tweaks to initialization. Added public variables for linear ↵Raspberry Pi1-7/+16
extent. Tested initialization on functioning system - it works!
2019-11-14Update initialize to not use wait_for_event for detecting limit switches. ↵Raspberry Pi1-17/+26
Update linear encoder to reduce noisy behavior and properly keep track of position. NOTE: Linear encoder direction seems to be backwards relative to the system (the motor currently also moves in this direction). Not a big deal as long as the motor and linear encoder work together properly, but ideally positive would be to the right.
2019-10-29Got limit switches working properly and tested. Got result file printout ↵Raspberry Pi1-7/+9
working properly. Other minor issues from merge conflict.
2019-10-29Add better limit handling to system: when a limit is triggered, return to ↵damic0142-0/+54
the linear-zero position. Add an initialize function for startup: use the limit switches to find the track extent and then go to zero. With the above two additions, we should be able to assume that new tests will always start at the zero position. Also add an initialize file which just calls sys.initialize to find the zero position. This should only be run on power-up (eventually, we should configure the Pi to run this on OS startup).
2019-10-17Add interrupts for HW limit switches.damic0141-4/+85
Add ability to add SW limits (challenge mode). Add result file reporting (currently using date-time for the test, which we can assume will be unique per test).
2019-10-15Measured linear movement from physical system. Slightly modified test_Motor ↵Raspberry Pi2-11/+9
to test on physical system.
2019-10-15Updated encoder for proper zero setting and offset behavior. Tested system ↵Raspberry Pi4-78/+83
library and successfully got the encoder position controlling the motor speed.
2019-10-15Add a linear encoder class for abstracting the angular-to-linear encoding, ↵damic0141-4/+37
which will be based on the specs of the system. This is the basic implementation we've talked about, but there might be some issues still because the position is only read when we tell it, so keeping track of number of rotations might not be very accurate - will need to test and possibly brainstorm alternate ideas.
2019-10-13Add System library and system test file. Still need to finalize some ↵damic0145-8/+93
implementation details (linear encoder, motor orientation, etc.). Need to compile and test on RPi still. Convert naming in other libraries to follow Python naming scheme.
2019-10-02Encoder classDat Nguyen2-54/+84
2019-10-01Delete Motor.pydamic0141-67/+0
2019-10-01Got encoder workingRaspberry Pi1-11/+14