except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
analog.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
try:
print("Enabling Analog output channel 0...")
analog.setEnabled(0, True)
sleep(1)
print("Enabling Analog output channel 0...")
analog.setEnabled(1, True)
sleep(1)
#print("Set analog output voltage to +5.00V...")
#analog.setVoltage(0, 5.00)
#sleep(5)
#print("Set analog output voltage to -5.00V...")
#analog.setVoltage(0, -5.00)
#sleep(5)
#print("Set analog output voltage to +0.00V...")
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
analog.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
try:
print("Enabling Analog output channel 0...")
analog.setEnabled(0, True)
sleep(5)
print("Set analog output voltage to +5.00V...")
analog.setVoltage(0, 5.00)
sleep(5)
print("Set analog output voltage to -5.00V...")
analog.setVoltage(0, -5.00)
sleep(5)
print("Set analog output voltage to +0.00V...")
analog.setVoltage(0, 0.00)
sleep(5)
print("Disabling Analog output channel 0...")
class PhidgetsAnalogOut:
def __init__(self, topic_1_subscriber=None, topic_2_subscriber=None, topic_publisher=None, channel_1=0, channel_2=0, pulselength=0, pulseinterval=0, pulse=False, serial_number=-1):
##########################################################
#Create an analog out object
try:
self.analog = Analog()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
if serial_number != -1:
self.analog.openPhidget(serial_number)
else:
self.analog.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
rospy.sleep(1)
###########################################################
self.channel_1 = channel_1
self.channel_2 = channel_2
self.pulselength = pulselength
self.pulseinterval = pulseinterval
self.pulse = pulse
self.voltage = 0
self.minsleeptime = 0.05
for channel in [self.channel_1, self.channel_2]:
self.analog.setEnabled(channel, True)
self.subscriber_1 = rospy.Subscriber(topic_1_subscriber, Float32, self.subscriber_1_callback)
self.subscriber_2 = rospy.Subscriber(topic_2_subscriber, Float32, self.subscriber_2_callback)
self.publisher = rospy.Publisher(topic_publisher, Float32)
nodename = 'phidgets_chrimson_analog'
rospy.init_node(nodename, anonymous=True)
def subscriber_1_callback(self, data):
self.voltage = data.data
if not self.pulse:
self.analog.setVoltage(self.channel_1, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.minsleeptime)
def subscriber_2_callback(self, data):
self.voltage = data.data
if not self.pulse:
self.analog.setVoltage(self.channel_2, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.minsleeptime)
def pulse_train(self):
if self.voltage != 0:
self.analog.setVoltage(self.channel, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.pulselength)
self.publisher.publish(Float32(self.voltage))
self.analog.setVoltage(self.channel, 0)
self.publisher.publish(Float32(0))
rospy.sleep(self.pulseinterval - self.pulselength)
self.publisher.publish(Float32(0))
else:
self.analog.setVoltage(self.channel, 0)
self.publisher.publish(Float32(0))
rospy.sleep(self.minsleeptime)
return
def main(self):
if self.pulse:
while not rospy.is_shutdown():
self.pulse_train()
else:
rospy.spin()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
analog.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
try:
print("Enabling Analog output channel 0...")
analog.setEnabled(0, True)
sleep(5)
print("Set analog output voltage to +5.00V...")
analog.setVoltage(0, 5.00)
sleep(5)
print("Set analog output voltage to -5.00V...")
analog.setVoltage(0, -5.00)
sleep(5)
print("Set analog output voltage to +0.00V...")
analog.setVoltage(0, 0.00)
sleep(5)
print("Disabling Analog output channel 0...")
class AnalogOut(object):
""" Class wraps language around the PhidgetAnalog 4-Output
ID: 1002_0 analog output device.
"""
def __init__(self, in_serial=None):
# http://victorlin.me/posts/2012/08/26/\
# good-logging-practice-in-python
self.log = logging.getLogger(__name__)
if in_serial != None:
# On odroid C1, int conversion raises null byte in argument
# strip out the null byte first
in_serial = in_serial.strip('\0')
self._serial = int(in_serial)
else:
self._serial = None
self.log.debug("Start of phidgeter with serial: %s" % in_serial)
def open_phidget(self):
self.log.debug("Attempting to open phidget")
self.interface = Analog()
if self._serial != None:
self.log.debug("Attempt to open serial: %s" % self._serial)
self.interface.openPhidget(self._serial)
else:
self.log.debug("Attempt to open first found")
self.interface.openPhidget()
wait_interval = 10300
self.log.debug("Wait for attach %sms" % wait_interval)
self.interface.waitForAttach(wait_interval)
self.log.info("Opened phidget")
return 1
def close_phidget(self):
self.log.debug("Attempting to close phidget")
self.interface.closePhidget()
self.log.info("Closed phidget")
return 1
def change_enable(self, output=0, status=0):
""" Toggle the enable of the phidget analog output line to
enable(1) or disable(0) status
"""
self.interface.setEnabled(output, status)
return 1
def open_operate_close(self, output, status):
""" Open the phidget, change the enable status of the analog
output, close phidget.
"""
self.open_phidget()
result = self.change_enable(output, status)
self.close_phidget()
return result
def open_toggle_close(self, output):
""" Find the current enable status of the specified output, and
set the status to the opposite.
"""
self.open_phidget()
curr_state = self.interface.getEnabled(output)
res_volt = self.interface.setVoltage(output, 3.3)
result = self.change_enable(output, not curr_state)
self.close_phidget()
return result
def zero_enable(self):
return self.open_operate_close(output=0, status=1)
def zero_disable(self):
return self.open_operate_close(output=0, status=0)
def zero_toggle(self):
return self.open_toggle_close(output=0)
def two_enable(self):
return self.open_operate_close(output=2, status=1)
def two_disable(self):
return self.open_operate_close(output=2, status=0)
def two_toggle(self):
return self.open_toggle_close(output=2)
class PhidgetsAnalogOut:
def __init__(self,
topic_1_subscriber=None,
topic_2_subscriber=None,
topic_publisher=None,
channel_1=0,
channel_2=0,
pulselength=0,
pulseinterval=0,
pulse=False,
serial_number=-1):
##########################################################
#Create an analog out object
try:
self.analog = Analog()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
if serial_number != -1:
self.analog.openPhidget(serial_number)
else:
self.analog.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
rospy.sleep(1)
###########################################################
self.channel_1 = channel_1
self.channel_2 = channel_2
self.pulselength = pulselength
self.pulseinterval = pulseinterval
self.pulse = pulse
self.voltage = 0
self.minsleeptime = 0.05
for channel in [self.channel_1, self.channel_2]:
self.analog.setEnabled(channel, True)
self.subscriber_1 = rospy.Subscriber(topic_1_subscriber, Float32,
self.subscriber_1_callback)
self.subscriber_2 = rospy.Subscriber(topic_2_subscriber, Float32,
self.subscriber_2_callback)
self.publisher = rospy.Publisher(topic_publisher, Float32)
nodename = 'phidgets_chrimson_analog'
rospy.init_node(nodename, anonymous=True)
def subscriber_1_callback(self, data):
self.voltage = data.data
if not self.pulse:
self.analog.setVoltage(self.channel_1, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.minsleeptime)
def subscriber_2_callback(self, data):
self.voltage = data.data
if not self.pulse:
self.analog.setVoltage(self.channel_2, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.minsleeptime)
def pulse_train(self):
if self.voltage != 0:
self.analog.setVoltage(self.channel, self.voltage)
self.publisher.publish(Float32(self.voltage))
rospy.sleep(self.pulselength)
self.publisher.publish(Float32(self.voltage))
self.analog.setVoltage(self.channel, 0)
self.publisher.publish(Float32(0))
rospy.sleep(self.pulseinterval - self.pulselength)
self.publisher.publish(Float32(0))
else:
self.analog.setVoltage(self.channel, 0)
self.publisher.publish(Float32(0))
rospy.sleep(self.minsleeptime)
return
def main(self):
if self.pulse:
while not rospy.is_shutdown():
self.pulse_train()
else:
rospy.spin()