From 066662d02c3185331af137a14cb1caab3b3af356 Mon Sep 17 00:00:00 2001 From: Raspberry Pi Date: Tue, 15 Oct 2019 17:10:04 -0500 Subject: Updated encoder for proper zero setting and offset behavior. Tested system library and successfully got the encoder position controlling the motor speed. --- System_Python/test_System.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) (limited to 'System_Python/test_System.py') diff --git a/System_Python/test_System.py b/System_Python/test_System.py index af218e0..32ff56d 100644 --- a/System_Python/test_System.py +++ b/System_Python/test_System.py @@ -1,17 +1,21 @@ # This test file implements a super simple control-type function for testing the System library. # DO NOT TEST ON ASSEMBLED PHYSICAL SYSTEM! It will probably break it. +import time from system import System # Return a speed based on current encoder angle. # Convert an angle to speed (180 degrees = max speed) def control_function(angle): - return (angle / 180.0) * 100.0 - + return (abs(angle) / 180.0) * 100.0 + # Main program sys = System() while 1: - angle, linear = sys.measure() - speed = control_function(angle) - sys.adjust(speed) - \ No newline at end of file + angle, linear = sys.measure() + #print(angle) + speed = control_function(angle) + print(speed) + sys.adjust(speed) + time.sleep(0.05) + \ No newline at end of file -- cgit v1.2.3