From 632729e3396ce834d1201af342cccd7a0dd55c92 Mon Sep 17 00:00:00 2001
From: Raspberry Pi <pi@umn.edu>
Date: Tue, 15 Oct 2019 18:46:52 -0500
Subject: Measured linear movement from physical system. Slightly modified
 test_Motor to test on physical system.

---
 System_Python/system.py     | 10 ++++------
 System_Python/test_Motor.py | 10 +++++-----
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/System_Python/system.py b/System_Python/system.py
index 1e532fa..ff38628 100644
--- a/System_Python/system.py
+++ b/System_Python/system.py
@@ -44,8 +44,7 @@ class System:
         angular_position = self.encoder_angular.read_position('Degrees')
         if angular_position > 180:
             angular_position = angular_position - 360
-        #linear_position = self.encoder_linear.read_position()
-        linear_position = 0
+        linear_position = self.encoder_linear.read_position()
         return (angular_position, linear_position)
     # END measure()
     
@@ -70,7 +69,7 @@ class System:
 # This class is to help with using an absolute encoder for linear position sensing as assembled in the physical system.
 # The function definitions here are the same as with the regular encoder (pseudo-interface).
 class Linear_Encoder:
-    DIAMETER = 4.0 # MEASURE THIS
+    PROPORTION = 14.5
     
     def __init__(self, clk_pin, cs_pin, data_pin):
         self.encoder = Encoder(clk_pin, cs_pin, data_pin)
@@ -95,8 +94,7 @@ class Linear_Encoder:
                 # We are moving to the left (negative) and have completed a new rotation
                 self.rotations = self.rotations - 1
         # Save the last position for the next calculation
-        self.last_position = position
-            
+        self.last_position = position 
         # compute the position based on the system parameters
         # linear position = (2pi*r)(n) + (2pi*r)(position/1024) = (2pi*r)(n + position/1024) = (pi*d)(n + position/1024)
-        return (math.pi*DIAMETER)*(self.rotations + position/1024)
+        return (PROPORTION)*(self.rotations + position/1024)
diff --git a/System_Python/test_Motor.py b/System_Python/test_Motor.py
index 99db520..80cff1e 100644
--- a/System_Python/test_Motor.py
+++ b/System_Python/test_Motor.py
@@ -11,13 +11,13 @@ m = Motor(speed_pin, forward_pin, reverse_pin)
 dir = 'ascending'
 speed = 0.0
 while 1:
-    m.move(speed)
-    if speed >= 100.0:
+    if speed >= 15.0:
         dir = 'descending'
-    elif speed <= -100.0:
+    elif speed <= -15.0:
         dir = 'ascending'
     if dir == 'ascending':
-        speed = speed + 0.5
+        speed = speed + 2.0
     else:
-        speed = speed - 0.5
+        speed = speed - 2.0
+    m.move(speed)
     time.sleep(0.1)
\ No newline at end of file
-- 
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