removed lock from wheelsaxel

Author: previ

coderbot.py

@@ -132,7 +132,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
                       sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_4_TRIGGER, self.GPIOS.PIN_SONAR_4_ECHO)]
         self._servos = [self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
 
-        #self.stop()
+        self.stop()
         self._is_moving = False
 
     the_bot = None

rotary_encoder/motorencoder.py

@@ -136,7 +136,7 @@ def reset_state(self):
     # CALLBACK
     """ The callback function rotary_callback is called on FALLING_EDGE by the
         rotary_decoder with a parameter value of 1 (1 new tick)
-        
+
         - Gearbox ratio: 120:1 (1 wheel revolution = 120 motor revolution)
         - Encoder ratio: 16:1 encoder ticks for 1 motor revolution
         - 1 wheel revolution = 120 * 16 = 1920 ticks
@@ -145,7 +145,7 @@ def reset_state(self):
         - 1 tick = 0.0981mm
         - 1 tick : 0.0981mm = x : 1000mm -> x = 10193 ticks approximately 
         So 0.0981 is the ticks->distance(mm) conversion coefficient
-        
+
         The callback function calculates current velocity by taking groups of 
         ticks_threshold ticks"""
 

rotary_encoder/wheelsaxel.py

@@ -1,6 +1,7 @@
 import pigpio
 import threading
 from time import sleep
+import logging
 
 from rotary_encoder.motorencoder import MotorEncoder
 
@@ -36,7 +37,7 @@ def __init__(self, pi, enable_pin,
                                          right_encoder_feedback_pin_B)
 
         # other
-        self._wheelsAxle_lock = threading.Condition() # race condition lock
+        #self._wheelsAxle_lock = threading.RLock() # race condition lock
 
     # STATE GETTERS
     """ Distance and speed are calculated by a mean of the feedback
@@ -78,7 +79,7 @@ def control(self, power_left=100, power_right=100, time_elapse=0, target_distanc
     """ Motor time control allows the motors
         to run for a certain amount of time """
     def control_time(self, power_left=100, power_right=100, time_elapse=0):
-        self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
+        #self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
 
         # applying tension to motors
         self._left_motor.control(power_left)
@@ -93,7 +94,7 @@ def control_time(self, power_left=100, power_right=100, time_elapse=0):
     """ Motor distance control allows the motors
             to run for a certain amount of distance (mm) """
     def control_distance(self, power_left=100, power_right=100, target_distance=0):
-        self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
+        #self._wheelsAxle_lock.acquire() # wheelsAxle lock acquire
         self._is_moving = True
 
         # applying tension to motors
@@ -103,7 +104,8 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
         # moving for certaing amount of distance
         # threshold value avoid to stop it after
         while(abs(self.distance()) < target_distance):
-            pass # busy waiting
+            sleep(0.01)
+            #pass # busy waiting
 
         # robot arrived
         self.stop()
@@ -124,17 +126,18 @@ def stop(self):
 
         # trying to fix distance different than zero after
         # wheels has stopped by re-resetting state after 0.5s
-        sleep(0.5)
+        #sleep(0.5)
         self._left_motor.reset_state()
         self._right_motor.reset_state()
 
         # updating state
         self._is_moving = False
         # restoring callback
-        try:
-            self._wheelsAxle_lock.release()
-        except RuntimeError:
-            pass
+        #try:
+        #    self._wheelsAxle_lock.release()
+        #except RuntimeError as e:
+        #    logging.error("error: " + str(e))
+        #    pass
 
     # CALLBACK
     def cancel_callback(self):