def diag():
brd = DriverBrd(NewApiTest.port)
print brd.setValue(0, 10)
time.sleep(.1)
print brd.setValue(3, 30)
time.sleep(.1)
print brd.setValue(0, 0)
time.sleep(.2)
print brd.setValue(3, 0)
def click():
brd = DriverBrd(NewApiTest.port)
#print brd.setSequence([3,4,0,5,1,2])
print brd.getInfo()
motor = 2
print brd.setValue(motor, 20)
time.sleep(.01)
print brd.setValue(motor, 0)
def waveLocal():
brd = DriverBrd(NewApiTest.port)
time.sleep(2)
#print brd.setSequence([3,4,0,5,1,2])
print brd.setWave(20, 100, 1)
time.sleep(10)
print brd.setWave(35, 1000, 0)
def __init__(self):
self.wb = DriverBrd()
#self.wb.setLRA(False)
self.wb.setSequence(Stimuli.MOTORS)
self.wb.setValueAll(0)
self.wb.setEnable(True)
class Stimuli:
# amp range 10 - 60 %
A0=33 #10.
Arange=90-33#50.#60.
AMP=A0+Arange
# const amp
AMPWAVE=A0+Arange/2#180
# freq mod
FREQ_RANGE = 2.5#1.5
FREQ_0 = 1.
CLICK_MOTOR=0
MOTORS=[3,4,0,5,1,2]
LAST_MOTOR=len(MOTORS)-1 # motors -1
N_MOTORS=len(MOTORS)
def __init__(self):
self.wb = DriverBrd()
#self.wb.setLRA(False)
self.wb.setSequence(Stimuli.MOTORS)
self.wb.setValueAll(0)
self.wb.setEnable(True)
def stimulate(self, level,method):
self.wb.setValueAll(0,False)
# S1 - amp
if method is Method.MODE_AMP:
self.__playClick(level)
# S2 - wave
elif method is Method.MODE_WAVE:
self.__playWave(1.*level, Stimuli.AMPWAVE)
# S3 - freq and amp vaiations
# S4 - S3 random
else:
self.__playWave(1.*level,None)
def stopStim(self):
self.wb.setWave(1,1,0)
self.wb.setValueAll(0)
def prepareTrial(self,method):
if method is Method.MODE_RANDOM:
seq=Stimuli.MOTORS
random.shuffle(seq)
self.wb.setSequence(seq)
else:
self.wb.setSequence(Stimuli.MOTORS)
def __playClick(self,level):
A=int(Stimuli.A0+level/10.*Stimuli.Arange)
self.wb.setValue(Stimuli.CLICK_MOTOR, A)
def __playWave(self,level,amp):
if amp is None:
A=int(Stimuli.A0+level/10.*Stimuli.Arange)
else:
A=int(amp)
d=1
# 1 ms is the default toff time hardcoded in the arduino
tOff=0.001
freq= Stimuli.FREQ_0 + level / 10. * Stimuli.FREQ_RANGE
tau=1./freq/Stimuli.N_MOTORS # 1/f/6 [s]
tOn = tau-tOff
self.wb.setWave(A,tOn,d)
def info():
brd = DriverBrd()
print brd.getInfo()
def close():
brd = DriverBrd()
brd.close()
brd = DriverBrd()
print brd.setSequence([3, 4, 0, 5, 1, 2])
print brd.getInfo()
class StimNorm:
# amp range 10 - 60 %
A_0 = 0.0 #10 #.33 #10.
A_BAND = 1.0 #0.90 - A_0#50.#60.
AMP = A_0 + A_BAND
# const amp
AMPWAVE = A_0 + A_BAND / 2 #180
# freq mod
FREQ_0 = 0. #1.
FREQ_BAND = 3. - FREQ_0 #1.5
CLICK_MOTOR = 0
MOTORS = [3, 4, 0, 5, 1, 2]
N_MOTORS = len(MOTORS)
LAST_MOTOR = N_MOTORS - 1 # motors -1
def __init__(self):
self.brd = DriverBrd()
#self.wb.setLRA(False)
self.brd.setSequence(StimNorm.MOTORS)
self.brd.setValueAll(0)
self.brd.setEnable(True)
def stimulate(self, level, method):
self.brd.setValueAll(0, False)
# S1 - amp
#print method
if method is Method.MODE_AMP:
self.__playClick(level)
# S2 - wave
elif method is Method.MODE_WAVE:
self.__playWave(level, StimNorm.AMPWAVE)
# S3 - freq and amp vaiations
# S4 - S3 random
else:
self.__playWave(level, None)
def stopStim(self):
self.brd.setWave(1, 1, 0)
#redundant:
#self.wb.setValueAll(0)
def prepareTrial(self, method):
if method is Method.MODE_RANDOM:
seq = StimNorm.MOTORS
random.shuffle(seq)
self.brd.setSequence(seq)
else:
self.brd.setSequence(StimNorm.MOTORS)
def __playClick(self, level):
A = (StimNorm.A_0 + level * StimNorm.A_BAND)
self.brd.setValue(StimNorm.CLICK_MOTOR, 100 * A)
def __playWave(self, level, amp):
if amp is None:
A = (StimNorm.A_0 + level * StimNorm.A_BAND)
else:
A = (amp)
d = 1
# 1 ms is the default toff time hardcoded in the arduino
tOff = 0.001
freq = StimNorm.FREQ_0 + level * StimNorm.FREQ_BAND
tau = 1. / freq / StimNorm.N_MOTORS # 1/f/6 [s]
tOn = tau - tOff
#print 'ton=%f amp=%f'%(tOn,A)
self.brd.setWave(100 * A, 1000 * tOn, d)
class BrdThread(threading.Thread):
"""
abstract class, extend it and override the while loop
"""
def __init__(self, com=None):
self.wb = DriverBrd(com)
self.__shouldRun = True
#print "thread constructed"
threading.Thread.__init__(self)
def cancel(self):
"""
call from main
"""
self.__shouldRun = False
#print "thread canceled"
def getWb(self):
"""
for internal use
"""
return self.wb
def shouldRun(self):
"""
for internal use
"""
return self.__shouldRun
def whileLoop(self):
"""
override this
"""
while self.shouldRun():
""" example """
# t=time.time() - self.tic
# self.getWb().setValue(1,30)
# time.sleep(.001)
pass
def __onFinish(self):
"""
private, don't call this
"""
time.sleep(.005)
self.wb.setEnable(False)
self.wb.close()
def run(self):
"""
don't call this, use thread.start()
"""
try:
self.wb.setEnable(True)
self.wb.setValueAll(0)
self.tic = time.time()
#omega=100 #degrees/s
self.whileLoop()
except KeyboardInterrupt:
print "Caught KeyboardInterrupt, terminating workers"
except AttributeError as e:
print "attr " + e.message
except IOError as e:
print "IO " + e.message
except BaseException as e:
print "Base " + e.message
#print "thread finished"
self.__onFinish()
def __init__(self, com=None):
self.wb = DriverBrd(com)
self.__shouldRun = True
#print "thread constructed"
threading.Thread.__init__(self)