def main(period):
taskHandle = daqmx.TaskHandle()
daqmx.CreateTask("", taskHandle)
physicalChannel = "Dev1/ao0"
t = np.linspace(0, 2 * pi / period, 1000)
data = 2 * np.sin(t)
daqmx.CreateAOVoltageChan(taskHandle, physicalChannel, "", -10.0, 10.0,
daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(taskHandle, "", 1000.0, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
daqmx.WriteAnalogF64(taskHandle, 1000, 0, 10.0, daqmx.Val_GroupByChannel,
data)
daqmx.StartTask(taskHandle)
for n in range(100):
time.sleep(0.3)
daqmx.StopTask(taskHandle)
daqmx.ClearTask(taskHandle)
def setup_DAQmx(self):
# daqmx tasks
self.AItask = daqmx.TaskHandle()
self.AOtask = daqmx.TaskHandle()
daqmx.CreateTask("", self.AItask)
daqmx.CreateTask("", self.AOtask)
# AI task setup
for i in range(self.num_i):
daqmx.CreateAIVoltageChan(self.AItask, self.i_channels[i], "", daqmx.Val_Diff,
-10.0, 10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.AItask, "", self.i_frequency, daqmx.Val_Rising,
daqmx.Val_ContSamps, self.i_size)
# AO task setup
daqmx.CreateAOVoltageChan(self.AOtask, self.o_channel, "",
-10.0, 10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.AOtask, "", self.o_fre, daqmx.Val_Rising,
daqmx.Val_ContSamps, self.o_buffer)
daqmx.SetWriteRegenMode(self.AOtask,daqmx.Val_DoNotAllowRegen)
def setup_DAQmx(self):
# daqmx tasks
self.AItask = daqmx.TaskHandle()
self.AOtask = daqmx.TaskHandle()
daqmx.CreateTask("", self.AItask)
daqmx.CreateTask("", self.AOtask)
# AI task setup
for i in range(self.NCH):
daqmx.CreateAIVoltageChan(self.AItask, self.AIs[i], "", daqmx.Val_Diff,
-10.0, 10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.AItask, "", self.IF, daqmx.Val_Rising,
daqmx.Val_ContSamps, self.ASS)
# AO task setup
daqmx.CreateAOVoltageChan(self.AOtask, self.O1, "",
-10.0, 10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.AOtask, "", self.OF, daqmx.Val_Rising,
daqmx.Val_ContSamps, self.OB)
daqmx.SetWriteRegenMode(self.AOtask,daqmx.Val_DoNotAllowRegen)
def start_daq(self):
# Task parameters
self.th = daqmx.TaskHandle()
daqmx.CreateTask("", self.th)
self.sr = 100.0
daqmx.CreateAIVoltageChan(self.th, self.phys_chan, "",
daqmx.Val_Diff, -10.0, 10.0,
daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.th, "", self.sr, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
daqmx.StartTask(self.th, fatalerror=False)
def __init__(self, name=""):
PyDaqMxTask.__init__(self)
self.name = name
self.handle = daqmx.TaskHandle()
self.TaskHandle = self.handle
self.taskHandle = self.handle
daqmx.CreateTask(name.encode(), self.handle)
self.sample_rate = 100.0
self.timeout = 10.0
self.samples_per_channel = 10
self.channels = []
self.sample_clock_source = ""
self.sample_clock_active_edge = "rising"
self.sample_mode = "continuous samples"
self.sample_clock_configured = False
self.fillmode = "group by channel"
self.task_type = ""
self.append_data = False
self.autolog = False
self.autotrim_limit = 100000 # Maximum number of samples to keep
self.autotrim = False # Only applicable if appending data
def main():
# Initializing task
taskhandle = daqmx.TaskHandle()
daqmx.CreateTask("", taskhandle)
phys_chan = "Dev1/ctr0"
#Timing parameters
rate = 200.0
initialdelay = 0
lowtime = 1 / rate / 2
hightime = 1 / rate / 2
daqmx.CreateCOPulseChanTime(taskhandle, phys_chan, "", daqmx.Val_Seconds,
daqmx.Val_Low, initialdelay, lowtime, hightime,
False)
print "Sending trigger pulse to", phys_chan + "..."
daqmx.StartTask(taskhandle, fatalerror=True)
print "Success!"
daqmx.WaitUntilTaskDone(taskhandle, timeout=10, fatalerror=False)
daqmx.ClearTask(taskhandle, fatalerror=False)
def main():
taskhandle = daqmx.TaskHandle()
daqmx.CreateTask("", taskhandle)
phys_chan = "cDAQ9188-16D66BBMod3/ctr2"
globalchan = "VecPulse"
#Timing parameters
rate = 200 # Pulse rate in Hz
initialdelay = 0
lowtime = 1 / rate / 2
hightime = 1 / rate / 2
# daqmx.CreateCOPulseChanTime(taskhandle, phys_chan, "", daqmx.Val_Seconds,
# daqmx.Val_Low, initialdelay, lowtime, hightime,
# False)
daqmx.AddGlobalChansToTask(taskhandle, globalchan)
daqmx.CfgImplicitTiming(taskhandle, daqmx.Val_FiniteSamps, 1)
# Set up communication with motion controller
simulator = False
# Parameters for plotting
plotting = False
plot_dynamic = False
if simulator == True:
hcomm = acsc.OpenCommDirect()
else:
hcomm = acsc.OpenCommEthernetTCP("10.0.0.100", 701)
axis = 5
buffno = 7
target = 0
timeout = 10
# Initialize arrays for storing time and position
t = np.array(0)
x = np.array(0)
if plotting == True and plot_dynamic == True:
plt.ioff()
fig = plt.figure()
ax = fig.add_subplot(111)
# plt.xlim(0, timeout)
# plt.ylim(0, target)
line, = ax.plot([], [])
fig.show()
if hcomm == acsc.INVALID:
print "Cannot connect to controller. Error:", acsc.GetLastError()
else:
# acsc.Enable(hcomm, axis)
rpos = acsc.GetRPosition(hcomm, axis)
x = rpos
t0 = time.time()
if simulator == True:
acsc.ToPoint(hcomm, 0, axis, target + 50000)
else:
acsc.RunBuffer(hcomm, buffno, None, None)
while True:
rpos = acsc.GetRPosition(hcomm, axis)
if rpos >= target: break
x = np.append(x, rpos)
t = np.append(t, time.time() - t0)
if plotting == True and plot_dynamic == True:
line.set_xdata(t)
line.set_ydata(x)
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
print "Axis is", acsc.GetAxisState(hcomm, axis) + '...'
if time.time() - t0 > timeout:
print "Motion timeout"
print "Final axis position:", rpos
break
time.sleep(0.001)
print "Target reached. Sending trigger pulse to", globalchan + "..."
daqmx.StartTask(taskhandle, fatalerror=False)
daqmx.WaitUntilTaskDone(taskhandle, timeout=10, fatalerror=False)
daqmx.ClearTask(taskhandle, fatalerror=False)
acsc.CloseComm(hcomm)
print "Triggered at", np.max(x)
if plotting == True:
if plot_dynamic == False:
plt.plot(t, x)
plt.show()
return t, x
# -*- coding: utf-8 -*-
"""
Created on Fri Jun 07 12:58:41 2013
@author: Pete
"""
import daqmx
import numpy as np
from numpy import pi
import time
import matplotlib.pyplot as plt
AItaskHandle = daqmx.TaskHandle()
AOtaskHandle = daqmx.TaskHandle()
daqmx.CreateTask("", AItaskHandle)
daqmx.CreateTask("", AOtaskHandle)
sr = 100.0
t = np.linspace(0, 100.0, 1000)
data = 2 * np.sin(t)
daqmx.CreateAOVoltageChan(AOtaskHandle, "Dev1/ao0", "", -10.0, 10.0,
daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(AOtaskHandle, "", sr, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
daqmx.CreateAIVoltageChan(AItaskHandle, "Dev1/ai1", "", daqmx.Val_Diff, -10.0,
10.0, daqmx.Val_Volts, None)
def main():
# Task parameters
taskhandle = daqmx.TaskHandle()
daqmx.CreateTask("", taskhandle)
phys_chan = b"Dev1/ai0"
nchan = 1
sr = 100.0
dt = 1 / sr
totaltime = 3
nloops = int(sr * totaltime / 10)
# Analog read parameters
samps_per_chan = 10
timeout = 10
fillmode = daqmx.Val_GroupByChannel
array_size_samps = 1000
daqmx.CreateAIVoltageChan(taskhandle, phys_chan, "", daqmx.Val_Diff, -10.0,
10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(taskhandle, "", sr, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
# Parameters for plotting
plotting = True
plot_dynamic = True
if plotting == True and plot_dynamic == True:
plt.ioff()
fig = plt.figure()
ax = fig.add_subplot(111)
line, = ax.plot([], )
fig.show()
daqmx.StartTask(taskhandle, fatalerror=False)
v = np.array([])
for n in range(nloops):
data, spc = daqmx.ReadAnalogF64(taskhandle, samps_per_chan, timeout,
fillmode, array_size_samps, nchan)
v = np.append(v, data[:, 0])
time.sleep(0.001)
t = np.float64(range(len(v))) * dt
if plotting == True and plot_dynamic == True:
line.set_xdata(t)
line.set_ydata(v)
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
daqmx.ClearTask(taskhandle)
print("Task complete")
if plotting == True:
if plot_dynamic == False:
plt.plot(t, v)
plt.show()
return t, data
def __init__(self, usetrigger=True):
# Some parameters for the thread
self.usetrigger = usetrigger
self.collect = True
# Create some meta data for the run
self.metadata = {}
# Initialize sample rate
self.sr = 2000.0
self.metadata["Sample rate (Hz)"] = self.sr
self.nsamps = int(self.sr / 10)
# Create a dict of arrays for storing data
self.data = {
"turbine_angle": np.array([]),
"turbine_rpm": np.array([]),
"torque_trans": np.array([]),
"torque_arm": np.array([]),
"drag_left": np.array([]),
"drag_right": np.array([]),
"t": np.array([]),
"carriage_pos": np.array([])
}
# Create one analog and one digital task
# Probably should be a bridge task in there too!
self.analogtask = daqmx.TaskHandle()
self.carpostask = daqmx.TaskHandle()
self.turbangtask = daqmx.TaskHandle()
# Create tasks
daqmx.CreateTask("", self.analogtask)
daqmx.CreateTask("", self.carpostask)
daqmx.CreateTask("", self.turbangtask)
# Add channels to tasks
self.analogchans = [
"torque_trans", "torque_arm", "drag_left", "drag_right"
]
self.carposchan = "carriage_pos"
self.turbangchan = "turbine_angle"
daqmx.AddGlobalChansToTask(self.analogtask, self.analogchans)
daqmx.AddGlobalChansToTask(self.carpostask, self.carposchan)
daqmx.AddGlobalChansToTask(self.turbangtask, self.turbangchan)
# Get channel information to add to metadata
self.chaninfo = {}
for channame in self.analogchans:
self.chaninfo[channame] = {}
scale = channame + "_scale"
self.chaninfo[channame]["Scale name"] = scale
self.chaninfo[channame]["Scale slope"] = \
daqmx.GetScaleLinSlope(scale)
self.chaninfo[channame]["Scale y-intercept"] = \
daqmx.GetScaleLinYIntercept(scale)
self.chaninfo[channame]["Scaled units"] = \
daqmx.GetScaleScaledUnits(scale)
self.chaninfo[channame]["Prescaled units"] = \
daqmx.GetScalePreScaledUnits(scale)
self.chaninfo[self.turbangchan] = {}
self.chaninfo[self.turbangchan]["Pulses per rev"] = \
daqmx.GetCIAngEncoderPulsesPerRev(self.turbangtask, self.turbangchan)
self.chaninfo[self.turbangchan]["Units"] = \
daqmx.GetCIAngEncoderUnits(self.turbangtask, self.turbangchan)
self.chaninfo[self.carposchan] = {}
self.chaninfo[self.carposchan]["Distance per pulse"] = \
daqmx.GetCILinEncoderDisPerPulse(self.carpostask, self.carposchan)
self.chaninfo[self.carposchan]["Units"] = \
daqmx.GetCILinEncoderUnits(self.carpostask, self.carposchan)
self.metadata["Channel info"] = self.chaninfo
# Configure sample clock timing
daqmx.CfgSampClkTiming(self.analogtask, "", self.sr, daqmx.Val_Rising,
daqmx.Val_ContSamps, self.nsamps)
# Get source for analog sample clock
trigname = daqmx.GetTerminalNameWithDevPrefix(self.analogtask,
"ai/SampleClock")
daqmx.CfgSampClkTiming(self.carpostask, trigname, self.sr,
daqmx.Val_Rising, daqmx.Val_ContSamps,
self.nsamps)
daqmx.CfgSampClkTiming(self.turbangtask, trigname, self.sr,
daqmx.Val_Rising, daqmx.Val_ContSamps,
self.nsamps)
# If using trigger for analog signals set source to chassis PFI0
if self.usetrigger:
daqmx.CfgDigEdgeStartTrig(self.analogtask,
"/cDAQ9188-16D66BB/PFI0",
daqmx.Val_Falling)
# Set trigger functions for counter channels
daqmx.SetStartTrigType(self.carpostask, daqmx.Val_DigEdge)
daqmx.SetStartTrigType(self.turbangtask, daqmx.Val_DigEdge)
trigsrc = \
daqmx.GetTrigSrcWithDevPrefix(self.analogtask, "ai/StartTrigger")
print("Trigger source:", trigsrc)
daqmx.SetDigEdgeStartTrigSrc(self.carpostask, trigsrc)
daqmx.SetDigEdgeStartTrigSrc(self.turbangtask, trigsrc)
daqmx.SetDigEdgeStartTrigEdge(self.carpostask, daqmx.Val_Rising)
daqmx.SetDigEdgeStartTrigEdge(self.turbangtask, daqmx.Val_Rising)
def test_GetTrigSrcWithDevPrefix():
th = daqmx.TaskHandle()
daqmx.CreateTask("", th)
daqmx.AddGlobalChansToTask(th, "drag_left")
print(daqmx.GetTrigSrcWithDevPrefix(th, "PFI0"))
def test_global_virtual_channel():
th = daqmx.TaskHandle()
daqmx.CreateTask("", th)
daqmx.AddGlobalChansToTask(th, "drag_left")
daqmx.AddGlobalChansToTask(th, ["drag_right", "torque_trans"])
daqmx.ClearTask(th)
# -*- coding: utf-8 -*-
"""
Created on Fri Jun 07 00:29:49 2013
@author: Pete
"""
import daqmx
import time
import numpy as np
aiTaskHandle = daqmx.TaskHandle()
diTaskHandle = daqmx.TaskHandle()
daqmx.CreateTask("", aiTaskHandle)
daqmx.CreateAIVoltageChan(aiTaskHandle, "Dev1/ai0", "", daqmx.Val_Diff, 0.0,
10.0, daqmx.Val_Volts)
daqmx.CfgSampClkTiming(aiTaskHandle, "", 100.0, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
trigname = daqmx.GetTerminalNameWithDevPrefix(aiTaskHandle, "ai/SampleClock")
daqmx.CreateTask("", diTaskHandle)
daqmx.CreateDIChan(diTaskHandle, "Dev1/port0", "", daqmx.Val_ChanForAllLines)
daqmx.CfgSampClkTiming(diTaskHandle, trigname, 100.0, daqmx.Val_Rising,
daqmx.Val_ContSamps, 1000)
daqmx.StartTask(diTaskHandle)
daqmx.StartTask(aiTaskHandle)
adata = daqmx.ReadAnalogF64(aiTaskHandle, 1000, 10.0, daqmx.Val_GroupByChannel,
def run(self):
self.rampeddown = False
self.cleared = False
self.making = False
# Compute the voltage time series associated with the wave
self.wave.gen_ts_volts()
# Get parameters from the wave object
self.period = self.wave.period
self.height = self.wave.height
self.buffsize = self.wave.sbuffsize
self.sr = self.wave.sr
# Get data to write from the wave object
self.ts_plot = self.wave.ts_elev
self.dataw = self.wave.ts_volts
# If random waves, divide up time series into 120 256 sample parts
if self.wavetype != "Regular":
tsparts = np.reshape(self.dataw, (120, 256))
self.dataw = tsparts[0, :]
# Compute spectrum for plot
if self.wavetype == "Regular":
self.outf, self.outspec = self.wave.comp_spec()
else:
self.outf, self.outspec = self.wave.f, self.wave.spec
# Ramp time series
rampup_ts = ramp_ts(self.dataw, "up")
# Set making variable true
self.making = True
self.AOtaskHandle = daqmx.TaskHandle()
daqmx.CreateTask("", self.AOtaskHandle)
daqmx.CreateAOVoltageChan(self.AOtaskHandle, "Dev1/ao0", "", -10.0,
10.0, daqmx.Val_Volts, None)
daqmx.CfgSampClkTiming(self.AOtaskHandle, "", self.sr,
daqmx.Val_Rising, daqmx.Val_ContSamps,
self.buffsize)
daqmx.SetWriteRegenMode(self.AOtaskHandle, daqmx.Val_DoNotAllowRegen)
# Setup a callback function to run once the DAQmx driver finishes
def DoneCallback_py(taskHandle, status, callbackData_ptr):
self.rampeddown = True
return 0
DoneCallback = daqmx.DoneEventCallbackPtr(DoneCallback_py)
daqmx.RegisterDoneEvent(self.AOtaskHandle, 0, DoneCallback, None)
# Output the rampup time series
daqmx.WriteAnalogF64(self.AOtaskHandle, self.buffsize, False, 10.0,
daqmx.Val_GroupByChannel, rampup_ts)
daqmx.StartTask(self.AOtaskHandle)
# Wait a second to allow the DAQmx buffer to empty
if self.wavetype == "Regular":
time.sleep(self.period * 0.99) # was self.period*0.4
else:
time.sleep(0.99)
# Set iteration variable to keep track of how many chunks of data
# have been written
i = 1
# Main running loop that writes data to DAQmx buffer
while self.enable:
writeSpaceAvail = daqmx.GetWriteSpaceAvail(self.AOtaskHandle)
if writeSpaceAvail >= self.buffsize:
if self.wavetype != "Regular":
if i >= 120:
self.dataw = tsparts[i % 120, :]
else:
self.dataw = tsparts[i, :]
daqmx.WriteAnalogF64(self.AOtaskHandle, self.buffsize, False,
10.0, daqmx.Val_GroupByChannel,
self.dataw)
i += 1
if self.wavetype == "Regular":
time.sleep(0.99 * self.period)
else:
time.sleep(0.99) # Was self.period
# After disabled, initiate rampdown time series
if self.wavetype != "Regular":
if i >= 120:
self.rampdown_ts = ramp_ts(tsparts[i % 120, :], "down")
else:
self.rampdown_ts = ramp_ts(tsparts[i, :], "down")
else:
self.rampdown_ts = ramp_ts(self.dataw, "down")
# Write rampdown time series
daqmx.WriteAnalogF64(self.AOtaskHandle, self.buffsize, False, 10.0,
daqmx.Val_GroupByChannel, self.rampdown_ts)
# Keep running, part of PyDAQmx callback syntax
while True:
pass
