Update movement algorithm
Movement algorithm now has an upper and lower bound, and warns user if outside that bound. Also, modified error logging to not post timestamp to user, for easier readability. Finally, muted extraneous logging messages from user.
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7 changed files with 24 additions and 50 deletions
34
.github/workflows/maven-publish.yml
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34
.github/workflows/maven-publish.yml
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@ -1,34 +0,0 @@
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# This workflow will build a package using Maven and then publish it to GitHub packages when a release is created
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# For more information see: https://github.com/actions/setup-java/blob/main/docs/advanced-usage.md#apache-maven-with-a-settings-path
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name: Maven Package
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on:
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release:
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types: [created]
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jobs:
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build:
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runs-on: ubuntu-latest
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permissions:
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contents: read
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packages: write
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steps:
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- uses: actions/checkout@v3
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- name: Set up JDK 11
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uses: actions/setup-java@v3
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with:
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java-version: '11'
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distribution: 'temurin'
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server-id: github # Value of the distributionManagement/repository/id field of the pom.xml
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settings-path: ${{ github.workspace }} # location for the settings.xml file
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- name: Build with Maven
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run: mvn -B package --file pom.xml
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- name: Publish to GitHub Packages Apache Maven
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run: mvn deploy -s $GITHUB_WORKSPACE/settings.xml
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env:
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GITHUB_TOKEN: ${{ github.token }}
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@ -35,6 +35,8 @@ To further develop this software, or to compile it from source, the following is
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- A Java-compatible IDE
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- Maven
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- OpenJDK11
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- .NET 6.0
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- (Optional, for complete dependency checking)
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OpenJDK11 is explicitly required, as it is the only currently available Java development platform compatible with [Pi4J](https://pi4j.com/getting-started/). According to the [documentation for Pi4J](https://pi4j.com/getting-started/developing-on-a-remote-pc/), development on a Raspberry Pi is possible, but given this project's build time (as of 4.0.0-rc3, 2-5 minutes on a Baxter-distributed device, before documentation generation), it is recommended to build on x86-64, and copy to the compiled JAR to the Pi. As such, this repository has been designed with this development model in mind. If you are intending on compiling on a Pi, please see the above-linked documentation to see what should be modified in your local `pom.xml` file.
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@ -18,7 +18,7 @@ import java.util.concurrent.locks.ReentrantLock;
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* classes).
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*
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* @author Blizzard Finnegan
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* @version 1.7.1, 10 Mar. 2023
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* @version 1.8.0, 16 Mar. 2023
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*/
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public class Cli
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{
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@ -104,7 +104,9 @@ public class Cli
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catch(Exception e)
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{
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ErrorLogging.logError(e);
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ErrorLogging.logError("GPIO initialisation error! Please check GPIO connections.");
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ErrorLogging.logError("GPIO initialisation error! Please check GPIO connections,");
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ErrorLogging.logError("and ensure that the PWM is set fast enough to the lower limit switch");
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ErrorLogging.logError("in less than 3 seconds.");
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println("");
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prompt("Press enter to try again.");
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String userInputString = inputScanner.nextLine();
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@ -233,7 +233,7 @@ public class DataSaving
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*/
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public static boolean writeValues(int cycle, Map<File,Double> inputMap, Map<String,File> cameraToFile)
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{
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ErrorLogging.logError("Writing values for " + cycle + " cycle to worksheet.");
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ErrorLogging.logError("DEBUG: Writing values for " + (cycle + 1) + " cycle to worksheet.");
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boolean output = false;
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int cellnum = 0;
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int startingRow = outputSheet.getLastRowNum();
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@ -18,7 +18,7 @@ import org.apache.commons.lang3.exception.ExceptionUtils;
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* as well as stderr.
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*
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* @author Blizzard Finnegan
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* @version 1.3.2, 07 Mar. 2023
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* @version 1.4.0, 07 Mar. 2023
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*/
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public class ErrorLogging
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@ -105,8 +105,9 @@ public class ErrorLogging
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String errorMessage = datetime.format(LocalDateTime.now()) + "\t- " + error;
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fileOut.println(errorMessage);
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fileOut.flush();
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if(!error.substring(0,5).equals("DEBUG"))
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System.out.println(errorMessage);
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if(error.length() < 5) System.out.println(error);
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else if(!error.substring(0,5).equals("DEBUG"))
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System.out.println(error);
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}
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/**
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@ -17,7 +17,7 @@ import com.pi4j.io.gpio.digital.PullResistance;
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* Currently missing Run switch compatibility.
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*
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* @author Blizzard Finnegan
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* @version 3.0.1, 10 Mar. 2023
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* @version 3.1.0, 16 Mar. 2023
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*/
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public class MovementFacade
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{
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@ -51,10 +51,9 @@ public class MovementFacade
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/**
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* How many polls before assuming bad GPIO connection.
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* Fixture movement takes approximately 2.5s, or 250 polls.
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* Double this to account for errors, or slower fixtures.
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* The DUTs fall asleep after ~6 seconds,so the travel must be less than 3 seconds.
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*/
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private static final int TIMEOUT = 500;
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private static final int TIMEOUT = 300;
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//PWM Addresses
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@ -285,7 +284,7 @@ public class MovementFacade
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}
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else
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{
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ErrorLogging.logError("DEBUG: No motor return after 30 seconds.");
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ErrorLogging.logError("DEBUG: No motor return after 3 seconds.");
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ErrorLogging.logError("DEBUG: --------------------------------------");
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return -1;
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}
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@ -314,7 +313,7 @@ public class MovementFacade
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}
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motorOff();
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if(lowerLimit.isOff()) ErrorLogging.logError("DEBUG: False positive on findDistance down!");
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if(downTravelCounter == TIMEOUT) throw new Exception("Failed GPIO initialisation!");
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if(downTravelCounter == TIMEOUT) throw new Exception("PWM set too slow!");
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ErrorLogging.logError("DEBUG: Down travel count: " + downTravelCounter);
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@ -379,8 +378,12 @@ public class MovementFacade
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try{ Thread.sleep(POLL_WAIT); } catch(Exception e){ ErrorLogging.logError(e); }
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if(limitSense.isOn())
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{
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motorOff();
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break;
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try{ Thread.sleep(5); } catch(Exception e){ErrorLogging.logError(e); }
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if(limitSense.isOn())
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{
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motorOff();
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break;
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}
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}
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}
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motorOff();
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@ -402,8 +402,8 @@ public class OpenCVFacade
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List<Mat> processedImageList = new ArrayList<>();
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Mat finalImage = null;
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if(crop) ErrorLogging.logError("Cropping is enabled.");
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if(threshold) ErrorLogging.logError("Thresholding is enabled.");
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if(crop) ErrorLogging.logError("DEBUG: Cropping is enabled.");
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if(threshold) ErrorLogging.logError("DEBUG: Thresholding is enabled.");
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for(Mat image : imageList)
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{
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Mat processedImage = image.clone();
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