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from pendulum import System
import time
from sys import exit
#import pandas
from pendulum import Encoder
import RPi.GPIO as GPIO
clk_pin = 3
cs_pin = 23
data_pin = 2
e = Encoder(clk_pin, cs_pin, data_pin)
e.set_zero()
###
sys = System(angular_units = 'Radians')
for x in range(4,20):
linear = 0
print("beginning of test with speed " + str(x))
while linear > -7:
sys.adjust(-5)
angle, linear = sys.measure()
print("Angle: " + str(angle) + ", Linear: " + str(linear))
time.sleep(0.1)
sys.adjust(0)
time.sleep(3)
sys.add_log("this is a test with speed " + str(x))
while linear < 7:
sys.adjust(x)
angle, linear = sys.measure()
print("Angle: " + str(angle) + ", Linear: " + str(linear))
sys.add_results(e.read_position('Degrees'), linear, x)
time.sleep(0.1)
sys.adjust(0)
print("end of test with speed " + str(x))
time.sleep(3)
exit()
#class test():
# def __init__(self, x, theta):
# self.x = 0
# self.theta = 0
#
# def getINFO(self, theta):
# #theta, x = self.System.measure()
# theta, x = self.sys.measure()
#
#while(1):
# test.getINFO()
# print("t")
# #print("theta",test.theta)
# #print("x",test.x)
#
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