From 0fe6f542246dd150b4793df18253ed6d4a443264 Mon Sep 17 00:00:00 2001
From: Raspberry Pi <raspberrypi@umn.edu>
Date: Mon, 2 Dec 2019 20:27:29 -0600
Subject: Update test files to do GPIO cleanup on completion (ex: encoders
 don't work if GPIO.cleanup is not performed). Add system destructor and add
 GPIO.cleanup to that too. Everything appears to be working still.

---
 System/initialize_system.py |  2 ++
 System/system.py            |  9 ++++++++-
 System/test_Encoder.py      | 13 ++++++++++---
 System/test_Motor.py        | 28 +++++++++++++++++-----------
 4 files changed, 37 insertions(+), 15 deletions(-)

diff --git a/System/initialize_system.py b/System/initialize_system.py
index 4eb287a..6df880f 100755
--- a/System/initialize_system.py
+++ b/System/initialize_system.py
@@ -1,7 +1,9 @@
 # This file should be run on system startup. It will initialize the linear position to the center so that all tests originate from a proper position.
 # The center is found by using the hardware limit switches
 from system import System
+import RPi.GPIO as GPIO
         
 # Main program
 sys = System()
 sys.initialize()
+GPIO.cleanup()
diff --git a/System/system.py b/System/system.py
index 8dd9f38..7b2ffcf 100755
--- a/System/system.py
+++ b/System/system.py
@@ -20,7 +20,7 @@ encoder_data_pin = 3
 ### Angular encoder pins
 encoder_angular_cs_pin = 4
 ### Linear encoder pins
-encoder_linear_cs_pin = 14 
+encoder_linear_cs_pin = 14
 ### Limit switch pins (configured to PULLUP)
 limit_negative_pin = 19
 limit_positive_pin = 26
@@ -89,6 +89,13 @@ class System:
         self.encoder_thread.start()
     # END __init__()
     
+    # Destructor
+    # Brake the motor and call GPIO.cleanup as a last-chance of doing so
+    def __del__(self):
+        self.motor.brake()
+        GPIO.cleanup()
+    # END __del__()
+    
     def initialize(self):
         # Temporarily disable the limit switch interrupts: we do not want the program to exit if the switch is triggered
         GPIO.remove_event_detect(limit_negative_pin)
diff --git a/System/test_Encoder.py b/System/test_Encoder.py
index b667cc1..d0b7ef8 100755
--- a/System/test_Encoder.py
+++ b/System/test_Encoder.py
@@ -1,5 +1,6 @@
 from encoder import Encoder
 import time
+import RPi.GPIO as GPIO
 
 # Decide which pins to hook up to on the Pi before running
 clk_pin = 2
@@ -9,6 +10,12 @@ data_pin = 3
 e = Encoder(clk_pin, cs_pin, data_pin)
 e.set_zero()
 
-while(1):
-    print(e.read_position('Degrees'))
-    time.sleep(0.001)
\ No newline at end of file
+try:
+    while(1):
+        print(e.read_position('Degrees'))
+        time.sleep(0.001)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    # Perform GPIO cleanup. Things may get weird otherwise...
+    GPIO.cleanup()
diff --git a/System/test_Motor.py b/System/test_Motor.py
index 80cff1e..f48b6ee 100755
--- a/System/test_Motor.py
+++ b/System/test_Motor.py
@@ -1,5 +1,6 @@
 from motor import Motor
 import time
+import RPi.GPIO as GPIO
 
 # Decide which pins to hook up to on the Pi before running
 speed_pin = 17
@@ -10,14 +11,19 @@ m = Motor(speed_pin, forward_pin, reverse_pin)
 
 dir = 'ascending'
 speed = 0.0
-while 1:
-    if speed >= 15.0:
-        dir = 'descending'
-    elif speed <= -15.0:
-        dir = 'ascending'
-    if dir == 'ascending':
-        speed = speed + 2.0
-    else:
-        speed = speed - 2.0
-    m.move(speed)
-    time.sleep(0.1)
\ No newline at end of file
+try:
+    while 1:
+        if speed >= 15.0:
+            dir = 'descending'
+        elif speed <= -15.0:
+            dir = 'ascending'
+        if dir == 'ascending':
+            speed = speed + 2.0
+        else:
+            speed = speed - 2.0
+        m.move(speed)
+        time.sleep(0.1)
+except:
+    print("Program killed by Ctrl-C")
+finally:
+    GPIO.cleanup()
\ No newline at end of file
-- 
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