From da0015bf71ec53effc75adb2b3a035bfdf8dbe86 Mon Sep 17 00:00:00 2001
From: damic014 <damic014@umn.edu>
Date: Tue, 26 Nov 2019 01:10:37 -0600
Subject: Add interrupt flags so that motor cannot be triggered once the HW
 interrupt 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...)
---
 System/system.py | 28 ++++++++++++++++------------
 1 file changed, 16 insertions(+), 12 deletions(-)

(limited to 'System')

diff --git a/System/system.py b/System/system.py
index ce1d55e..dab8c06 100644
--- a/System/system.py
+++ b/System/system.py
@@ -51,6 +51,7 @@ class System:
         GPIO.add_event_detect(limit_negative_pin, GPIO.FALLING, callback=self.negative_limit_callback)
         GPIO.setup(limit_positive_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
         GPIO.add_event_detect(limit_positive_pin, GPIO.FALLING, callback=self.positive_limit_callback)
+		self.interrupted = False
         
         # Setup soft limits if defined by the user (this is "challenge mode" for the user, making the constraints more difficult).
         # By default, the soft limits will not be used (when set NaN), and the whole extent of the system is available (to the HW limits).
@@ -161,18 +162,19 @@ class System:
     #####      Negative values will move the pendulum to the left.
     #####      Positive values will move the pendulum to the right.
     def adjust(self, speed):
-        if speed != 0:
-            # cap the speed inputs
-            if speed > 100.:
-                speed = 100.
-            if speed < -100.:
-                speed = -100.
-            # change the motor speed
-            # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
-            self.motor.coast()
-            self.motor.move(speed)
-        else:
-            self.motor.coast()
+        if self.interrupted == False:
+            if speed != 0:
+                # cap the speed inputs
+                if speed > 100.:
+                    speed = 100.
+                if speed < -100.:
+                    speed = -100.
+                # change the motor speed
+                # TODO: Make sure the motor is oriented so that positive speed the correct direction (same for negative). Change the values otherwise.
+                self.motor.coast()
+                self.motor.move(speed)
+            else:
+                self.motor.coast()
     # END adjust()
     
     # Append data to the results file
@@ -209,6 +211,7 @@ class System:
     
     # Callback for when negative limit switch is triggered.
     def negative_limit_callback(self, channel):
+        self.interrupted = True
         self.motor.brake()
         # Print negative limit trigger to the results file.
         result_file = open(self.result_filename, "a")
@@ -219,6 +222,7 @@ class System:
     # END negative_limit_callback
     # Callback for when positive limit switch is triggered.
     def positive_limit_callback(self, channel):
+        self.interrupted = True
         self.motor.brake()
         # Print positive limit trigger to the results file.
         result_file = open(self.result_filename, "a")
-- 
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