def SetBField(self):
try:
xyz.fine_field_cart(self.xValue, self.yValue, self.zValue, self.handle)
print("Magnetic Field Set")
except Error as err:
xyz.closePorts(self.handle) # close the ports before raising the error.
raise err
def pid(setpoint, position, handle):
"""
hello this is a doc string
"""
kP = 0.004
kD = 0.005
kI = 0.4
#kP = 0.019
#kD = 0.007
#kI = 0.4
global prePos
global integral
global t0
global initialOutput
# calculate dt and save t0 for the next call.
t1 = time.time()
dt = t1 - t0
t0 = t1
offset = position - setpoint
preOffset = prePos - setpoint
# only set the integral if it is not saturated
if (integral > -5 and offset > 0) or (integral < 5 and offset <= 0):
integral += (offset * dt)
derivative = (offset - preOffset) / dt
prePos = position # save the position for the next call.
output = ((kP * offset) + (kI * integral) +
(kD * derivative)) * -1e-7 + initialOutput
# now set the field with the output
#print('output = %14.11f\toffset = %14.11f\tdt = %14.11f\tintegral = %14.11f' % (output, offset, position, dt, integral))
print(
'offset = %14.11f\tintegral = %14.11f\tderivative = %14.11f\tdt = %14.11f'
% (offset, integral, derivative, dt))
xyz.fine_field_cart(xyz.xCoil.appliedMaxField, output, handle)
return
nominalFieldOffset = 41.5e-6
outputYField = nominalFieldOffset
try:
while True:
# querry the labjack
t1 = time.time()
sumSignal, leftMinusRight = xyz.ljm.eReadNames(handle, 2, ['AIN0', 'AIN1'])
# run the control loop
output = pid(setpoint, leftMinusRight)
outputYField += output*1e-6
print('output = %s' % output)
# set the field
xyz.fine_field_cart(xyz.xCoil.coilField, outputYField, xyz.zCoil.largeCoilField, handle)
# save the (now) old leftMinusRight value for the next loop
lastLeft = leftMinusRight
dt = time.time() - t1 # keep track of the timestep for consistancy sake.
print('time step = %s' % dt)
if sumSignal < 3:
raise exception('sum signal LOW!')
except Exception as e:
# helpful to close the ports on except when debugging the code!
xyz.closePorts(handle)
print('closed all the ports')
print(e) # print the exception
raise
handle = xyz.openPorts()
# configure the analog register
# Setup and call eWriteNames to configure the AIN on the LabJack.
numFrames = 3
names = ["AIN0_NEGATIVE_CH", "AIN0_RANGE", "AIN0_RESOLUTION_INDEX"]
aValues = [199, 0, 10] # setup the analog register values for the labjack
xyz.ljm.eWriteNames(handle, numFrames, names, aValues)
# open ports
handle = xyz.openPorts()
try:
while True:
input('setLow')
xyz.fine_field_cart(10e-6, 10e-6, handle)
input('setHigh')
xyz.fine_field_cart(20e-6, 20e-6, handle)
except KeyboardInterrupt:
time.sleep(.5)
print('\n')
xyz.closePorts(handle)
print('closed all the ports')
#print('Keyboard Interrupt') # print the exception
#raise
except Exception as e:
# helpful to close the ports on except when debugging the code!
time.sleep(.5)
xyz.closePorts(handle)
print('closed all the ports')
import xyzFieldControl as xyz
import numpy as np
import time as time
# open the all ports and get the labjack handle
handle = xyz.openPorts()
#lock in the z because we know what it is (don't change it)
zCurrent = (xyz.zCoil.largeCoilCurrent)
# xyz.zCoil.supply.current(439.5)
yField = 41.92e-6
try:
while True:
yField += float(input('offset yField by (nano Tesla) -->')) * 1e-9 #
print('yField = %f (micro Tesla)' % (yField * 1e6))
xyz.fine_field_cart(xyz.xCoil.appliedMaxField, yField,
xyz.zCoil.largeCoilField, handle)
'''
# try something a bit more simple
xyz.field_cart(xyz.xCoil.appliedMaxField, xyz.yCoil.appliedMaxField, xyz.zCoil.largeCoilField)
'''
pass
except Exception as e:
# helpful to close the ports on except when debugging the code!
xyz.closePorts(handle)
print('closed all the ports')
print(e) # print the exception
raise
backwardsBy = By[::-1]
minSumSignal = 3.0 # analog voltage goes between 0 and 6 volts roughly
sumSignal = np.array([0.0,0.0])
# open the all ports and get the labjack handle
handle - xyz.openPorts()
#lock in the z because we know what it is (don't change it)
zCurrent = (xyz.zCoil.largeCoilCurrent)
# xyz.zCoil.supply.current(439.5)
try:
for i, xField in enumerate(Bx):
if i % 2:
for j, yField in enumerate(By):
xyz.fine_field_cart(xField, yField, xyz.zCoil.largeCoilField, handle)
#time.sleep(0.1)
result = float(xyz.ljm.eReadName(handle,'AIN0'))
if result > minSumSignal:
sumSignal = np.vstack((sumSignal, np.array([xField, yField])))
else:
for j, yField in enumerate(backwardsBy):
xyz.fine_field_cart(xField, yField, xyz.zCoil.largeCoilField, handle)
#time.sleep(0.1)
result = float(xyz.ljm.eReadName(handle,'AIN0'))
if result > minSumSignal:
sumSignal = np.vstack((sumSignal, np.array([xField, yField])))
'''
# try something a bit more simple
xyz.field_cart(xyz.xCoil.appliedMaxField, xyz.yCoil.appliedMaxField, xyz.zCoil.largeCoilField)
setpoint = 0
lastSum = 0
lastLeft = 0
# make some dque objects for leftMinusRight and sumSignal?
try:
while True:
# querry the labjack
time = time.time()
sumSignal, leftMinusRight = xyz.ljm.eReadNames(handle, 2, ['AIN0', 'AIN1'])
# run the control loop
output = pid(setpoint, leftMinusRight, lastLeft, 1) +
# set the field
xyz.fine_field_cart(output, xyz.yCoil.largeCoilField, xyz.zCoil.largeCoilField, handle)
# save the (now) old leftMinusRight value for the next loop
lastLeft = leftMinusRight
dt = time.time() - time # keep track of the timestep for consistancy sake.
print('times step = ' + dt)
except Exception as e:
# helpful to close the ports on except when debugging the code!
xyz.closePorts(handle)
print('closed all the ports')
print(e) # print the exception
raise
# work in the optical zero space so we are always adusting perpenductular to the optical zero.
zCurrent = (xyz.zCoil.largeCoilCurrent)
# xyz.zCoil.supply.current(439.5)
xField = 0
yField = 0
zField = 0
try:
while True:
xInField = float('0' + input('xField in micro Tesla -->')) * 1e-6
yInField = float('0' + input('yField in micro Tesla -->')) * 1e-6
#zInField = float('0'+input('zField in micro Tesla -->'))*1e-6
if xInField != 0:
xField = xInField
if yInField != 0:
yField = yInField
zField = xyz.zCoil.getLargeCoilField(
) # keep the z at whatever it's set to
print('setting field to:\n(xField, yField, zField)\n(%f, %f, %f)' %
((xField * 1e6), (yField * 1e6), (zField * 1e6)))
xyz.fine_field_cart(xField, yField, zField, handle)
except Exception as e:
# helpful to close the ports on except when debugging the code!
xyz.closePorts(handle)
print('closed all the ports')
print(e) # print the exception
raise