def set_(self,wanted_position): """send a signal""" self.out=(wanted_position/self.gain)-self.offset out_a=c.comedi_from_phys(self.out,self.range_ds,self.maxdata) # convert the wanted_position c.comedi_data_write(self.device0,self.subdevice,self.channel,self.range_num,c.AREF_GROUND,out_a) # send the signal to the controler t=time.time() return (t,self.out)
def set_PID(self,wanted_position,sensor_input):
"""send a signal through a PID, based on the wanted command and the sensor_input"""
self.time= time.time()
self.out=(wanted_position/self.gain)-self.offset
self.error=self.out-sensor_input
self.I_term += self.Ki*self.error*(self.last_time-self.time)
if self.I_term>self.out_max:
self.I_term=self.out_max
elif self.I_term<self.out_min:
self.I_term=self.out_min
self.out_PID=self.last_output+self.K*self.error+self.I_term-self.Kd*(sensor_input-self.last_sensor_input)/(self.last_time-self.time)
if self.out_PID>self.out_max:
self.out_PID=self.out_max
elif self.out_PID<self.out_min:
self.out_PID=self.out_min
self.last_time=copy.copy(self.time)
self.last_sensor_input=copy.copy(sensor_input)
self.last_output=copy.copy(self.out_PID)
out_a=c.comedi_from_phys(self.out_PID,self.range_ds,self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0,self.subdevice,self.channel,self.range_num,c.AREF_GROUND,out_a) # send the signal to the controler
t=time.time()
return (t,self.out_PID)
def command(self,wanted_position):
self.out=(wanted_position-self.offset)/self.gain
out_a=c.comedi_from_phys(self.out,self.range_ds,self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0,self.subdevice,self.channel,self.range_num,c.AREF_GROUND,out_a) # send the signal to the controler
t_=datetime.datetime.now()
t=(((((((t_.year*12)+t_.month)*30+t_.day)*24+t_.hour)*60+t_.minute)*60+t_.second)*1000000)+t_.microsecond
return (t-t0,self.out)
def command_PID(self,wanted_position,sensor_input):
self.time= time.time()
self.out=(wanted_position-self.offset)/self.gain
#print "sensor=%s" %sensor_input
self.error=self.out-sensor_input
self.I_term += self.Ki*self.error*(self.last_time-self.time)
if self.I_term>self.out_max:
self.I_term=self.out_max
elif self.I_term<self.out_min:
self.I_term=self.out_min
self.out_PID=self.last_output+self.K*self.error+self.I_term-self.Kd*(sensor_input-self.last_sensor_input)/(self.last_time-self.time)
if self.out_PID>self.out_max:
self.out_PID=self.out_max
elif self.out_PID<self.out_min:
self.out_PID=self.out_min
self.last_time=copy.copy(self.time)
self.last_sensor_input=copy.copy(sensor_input)
self.last_output=copy.copy(self.out_PID)
#self.t.append(time.time()-t0)
#print "I_term= %s, out_PID=%s" %(self.I_term, self.out_PID)
out_a=c.comedi_from_phys(self.out_PID,self.range_ds,self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0,self.subdevice,self.channel,self.range_num,c.AREF_GROUND,out_a) # send the signal to the controler
t_=datetime.datetime.now()
t=(((((((t_.year*12)+t_.month)*30+t_.day)*24+t_.hour)*60+t_.minute)*60+t_.second)*1000000)+t_.microsecond
return (t-t0,self.out_PID)
def set_PID(self, wanted_position, sensor_input):
"""send a signal through a PID, based on the wanted command and the sensor_input"""
self.time = time.time()
self.out = (wanted_position / self.gain) - self.offset
self.error = self.out - sensor_input
self.I_term += self.Ki * self.error * (self.last_time - self.time)
if self.I_term > self.out_max:
self.I_term = self.out_max
elif self.I_term < self.out_min:
self.I_term = self.out_min
self.out_PID = self.last_output + self.K * self.error + self.I_term - self.Kd * (
sensor_input - self.last_sensor_input) / (self.last_time -
self.time)
if self.out_PID > self.out_max:
self.out_PID = self.out_max
elif self.out_PID < self.out_min:
self.out_PID = self.out_min
self.last_time = copy.copy(self.time)
self.last_sensor_input = copy.copy(sensor_input)
self.last_output = copy.copy(self.out_PID)
out_a = c.comedi_from_phys(self.out_PID, self.range_ds,
self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND,
out_a) # send the signal to the controler
t = time.time()
return (t, self.out_PID)
def putU(self, U):
# Convert physical data to raw data
U1_raw = comedi.comedi_from_phys(U[0],self.range_info_output_1, self.maxdata_output_1)
# Write the raw data
comedi.comedi_data_write(self.device , 1 , 0 , 0 , 0 , U1_raw)
return U1_raw
def set_(self, wanted_position):
"""send a signal"""
self.out = (wanted_position / self.gain) - self.offset
out_a = c.comedi_from_phys(self.out, self.range_ds,
self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND,
out_a) # send the signal to the controler
t = time.time()
return (t, self.out)
def set_(self, wanted_position):
self.out = (wanted_position - self.offset) / self.gain
out_a = c.comedi_from_phys(self.out, self.range_ds,
self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND,
out_a) # send the signal to the controler
#t_=datetime.datetime.now()
#t=(((((((t_.year*12)+t_.month)*30+t_.day)*24+t_.hour)*60+t_.minute)*60+t_.second)*1000000)+t_.microsecond
t = time.time()
def set_cmd(self, cmd):
"""Convert the tension value to a digital value and send it to the output."""
# self.out=(cmd/self.gain)-self.offset
# out_a=c.comedi_from_phys(self.out,self.range_ds,self.maxdata) # convert the cmd to digital value
self.out = (cmd * self.gain) + self.offset
out_a = c.comedi_from_phys(self.out, self.range_ds, self.maxdata) # convert the cmd
# print self.out, out_a
c.comedi_data_write(
self.device, self.subdevice, self.channel, self.range_num, c.AREF_GROUND, out_a
) # send the signal to the controler
def set_cmd(self, *cmd):
"""To set the value of the outputs (when specified)
Takes as many argument as opened output channels"""
assert len(cmd) == len(self.out_channels),\
"set_cmd takes {} args, but got {}".format(
len(self.out_channels),len(cmd))
for val, chan in zip(cmd, self.out_channels):
val = val * chan['gain'] + chan['offset']
out_a = c.comedi_from_phys(val, chan['range_ds'], chan['maxdata'])
c.comedi_data_write(self.device, self.out_subdevice, chan['num'],
chan['range_num'], c.AREF_GROUND, out_a)
def command_PID(self, wanted_position, sensor_input):
self.time = time.time()
self.out = (wanted_position - self.offset) / self.gain
#print "sensor=%s" %sensor_input
self.error = self.out - sensor_input
self.I_term += self.Ki * self.error * (self.last_time - self.time)
if self.I_term > self.out_max:
self.I_term = self.out_max
elif self.I_term < self.out_min:
self.I_term = self.out_min
self.out_PID = self.last_output + self.K * self.error + self.I_term - self.Kd * (
sensor_input - self.last_sensor_input) / (self.last_time -
self.time)
if self.out_PID > self.out_max:
self.out_PID = self.out_max
elif self.out_PID < self.out_min:
self.out_PID = self.out_min
self.last_time = copy.copy(self.time)
self.last_sensor_input = copy.copy(sensor_input)
self.last_output = copy.copy(self.out_PID)
#self.t.append(time.time()-t0)
#print "I_term= %s, out_PID=%s" %(self.I_term, self.out_PID)
out_a = c.comedi_from_phys(self.out_PID, self.range_ds,
self.maxdata) # convert the wanted_position
c.comedi_data_write(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND,
out_a) # send the signal to the controler
t_ = datetime.datetime.now()
t = ((((((
(t_.year * 12) + t_.month) * 30 + t_.day) * 24 + t_.hour) * 60 +
t_.minute) * 60 + t_.second) * 1000000) + t_.microsecond
return (t - t0, self.out_PID)
