def run(self):
global RUN_FLAG
# start up pru taking encoder readings
pp.start_up_pru()
adj = 0.014;
self.sysStartTime = time.time() + adj
self.pruCurrentTime = self.sysStartTime
try:
while RUN_FLAG is True:
self.update()
# Flash BBB LED
if self.ledFlag is True:
self.ledFlag = False
GPIO.output(self.ledPin, GPIO.HIGH)
else:
self.ledFlag = True
GPIO.output(self.ledPin, GPIO.LOW)
time.sleep(self.sampleTime)
except:
RUN_FLAG_LOCK.acquire()
RUN_FLAG = False
RUN_FLAG_LOCK.release()
raise
self.cleanup()
return
def run(self): global RUN_FLAG pp.start_up_pru() adj = 0.014; self.sysStartTime = time.time() + adj self.pruCurrentTime = self.sysStartTime # double check timingn with timeit # self.timeitStartTime = timeit.default_timer() + adj # self.ct2 = self.timeitStartTime while RUN_FLAG is True: self.update() time.sleep(self.sampleTime)
