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#!/usr/bin/env python
from motor import Motor
from encoder import Encoder
# IO pin definitions
### Motor pins
motor_speed_pin = 17
motor_forward_pin = 27
motor_reverse_pin = 22
### Encoder pins (shared by both encoders)
encoder_clock_pin = 2
encoder_data_pin = 3
### Angular encoder pins
encoder_angular_cs_pin = 4
### Linear encoder pins
encoder_linear_cs_pin = 5
# System Class
# This is the primary interface a student will use to control the pendulum.
class System:
def __init__(self):
# Initialize the motor.
self.motor = Motor(motor_speed_pin, motor_forward_pin, motor_reverse_pin)
# Initialize the angular encoder.
self.encoder_angular = Encoder(encoder_clock_pin, encoder_angular_cs_pin, encoder_data_pin)
self.encoder_angular.set_zero()
# Initialize the linear encoder.
self.encoder_linear = Encoder(encoder_clock_pin, encoder_linear_cs_pin, encoder_data_pin)
self.encoder_linear.set_zero()
# END __init__()
# Get the values of the encoders to determine the angular and linear position of the pendulum.
# Values are returned as a tuple: (angle, linear).
### angle: 0 indicates the pendulum is exactly straight up.
##### 180 or -180 indicate the pendulum is exactly straight down.
##### Positive values indicate the pendulum is leaning to the right.
##### Negative values indicate the pendulum is leaning to the left.
### linear: 0 indicates the pendulum is exactly in the middle of the track.
##### Positive values indicate the pendulum is right-of-center.
##### Negative values indicate the pendulum is left-of-center.
def measure(self):
angular_position = self.encoder_angular.read_position('Degrees')
if angular_position > 180:
angular_position = angular_position - 360
# TODO: Implement linear position
# Need to determine how to keep track of position based on gearing and rotations.
#linear_position = self.encoder_linear.read_position('Raw')
linear_position = 0
return (angular_position, linear_position)
# END measure()
# Adjust the pendulum's linear position using the motor.
### speed: Acceptable values range from -100 to 100 (as a percentage), with 100/-100 being the maximum adjustment speed.
##### Negative values will move the pendulum to the left.
##### Positive values will move the pendulum to the right.
def adjust(self, speed):
# cap the speed inputs
if speed > 100.0:
speed = 100.0
if speed < -100.0:
speed = -100.0
# 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.move(speed)
# END adjust()
# END System
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