def shutDown(self):
if self.good:
pidevice.StopAll(noraise=True)
pitools.waitonready(
pidevice
) # there are controllers that need some time to halt all axes
pidevice.CloseConnection()
def runwavegen(pidevice):
"""Configure two wave forms, move to start position and start the wave generators.
@type pidevice : pipython.gcscommands.GCSCommands
"""
assert 2 == len(pidevice.axes[:2]), 'this sample requires two connected axes'
wavegens = (1, 2)
wavetables = (1, 2)
print('define sine and cosine waveforms for wave tables {}'.format(wavetables))
pidevice.WAV_SIN_P(table=wavetables[0], firstpoint=0, numpoints=NUMPOINTS, append='X',
center=NUMPOINTS / 2, amplitude=AMPLITUDE[0], offset=STARTPOS[0], seglength=NUMPOINTS)
pidevice.WAV_SIN_P(table=wavetables[1], firstpoint=NUMPOINTS / 4, numpoints=NUMPOINTS, append='X',
center=NUMPOINTS / 2, amplitude=AMPLITUDE[1], offset=STARTPOS[1], seglength=NUMPOINTS)
pitools.waitonready(pidevice)
if pidevice.HasWSL(): # you can remove this code block if your controller does not support WSL()
print('connect wave generators {} to wave tables {}'.format(wavegens, wavetables))
pidevice.WSL(wavegens, wavetables)
if pidevice.HasWGC(): # you can remove this code block if your controller does not support WGC()
print('set wave generators {} to run for {} cycles'.format(wavegens, NUMCYLES))
pidevice.WGC(wavegens, [NUMCYLES] * len(wavegens))
if pidevice.HasWTR(): # you can remove this code block if your controller does not support WTR()
print('set wave table rate to {} for wave generators {}'.format(TABLERATE, wavegens))
pidevice.WTR(wavegens, [TABLERATE] * len(wavegens), interpol=[0] * len(wavegens))
startpos = (STARTPOS[0], STARTPOS[1] + AMPLITUDE[1] / 2.0)
print('move axes {} to their start positions {}'.format(pidevice.axes[:2], startpos))
pidevice.MOV(pidevice.axes[:2], startpos)
pitools.waitontarget(pidevice, pidevice.axes[:2])
print('start wave generators {}'.format(wavegens))
pidevice.WGO(wavegens, mode=[1] * len(wavegens))
while any(list(pidevice.IsGeneratorRunning(wavegens).values())):
print('.', end='')
sleep(1.0)
print('\nreset wave generators {}'.format(wavegens))
pidevice.WGO(wavegens, mode=[0] * len(wavegens))
print('done')
def shutDown(self):
# Disconnect from the stage
if self.good:
self.pidevice.StopAll(noraise=True)
pitools.waitonready(
self.pidevice
) # there are controllers that need some time to halt all axes
def waitonalign(pidevice, routines=None, timeout=60, predelay=0, postdelay=0, polldelay=0.1):
"""Wait until all fast align 'routines' are finished, i.e. do not run or are paused.
@type pidevice : pipython.gcscommands.GCSCommands
@param routines : Name of the routines as int, string or list, or None to wait for all routines.
@param timeout : Timeout in seconds as float, defaults to 60 seconds.
@param predelay : Time in seconds as float until querying any state from controller.
@param postdelay : Additional delay time in seconds as float after reaching desired state.
@param polldelay : Delay time between polls in seconds as float.
"""
waitonready(pidevice, timeout, predelay)
maxtime = time() + timeout
while 2 in list(pidevice.qFRP(routines).values()):
if time() > maxtime:
raise SystemError('waitonalign() timed out after %.1f seconds' % timeout)
sleep(polldelay)
sleep(postdelay)
print(pidevice.qDRT())
wavegens = (1, 2)
wavetables = (1, 2)
pidevice.WAV_LIN(table=wavetables[0],
firstpoint=0,
numpoints=NUMPOINTS,
append='X',
speedupdown=100,
amplitude=AMPLITUDE,
offset=STARTPOS,
seglength=NUMPOINTS)
# pidevice.WAV_SIN_P(table=wavetables[1], firstpoint=0, numpoints=NUMPOINTS, append='X',
# center=NUMPOINTS/2, amplitude=AMPLITUDE, offset=STARTPOS, seglength=NUMPOINTS)
pitools.waitonready(pidevice)
if pidevice.HasWSL(
): # you can remove this code block if your controller does not support WSL()
print('connect wave generators {} to wave tables {}'.format(
wavegens, wavetables))
pidevice.WSL(wavegens, wavetables)
if pidevice.HasWGC(
): # you can remove this code block if your controller does not support WGC()
print('set wave generators {} to run for {} cycles'.format(
wavegens, NUMCYLES))
pidevice.WGC(wavegens, [NUMCYLES] * len(wavegens))
# if pidevice.HasWTR(): # you can remove this code block if your controller does not support WTR()
# print('set wave table rate to {} for wave generators {}'.format(TABLERATE, wavegens))
# pidevice.WTR(wavegens, [TABLERATE] * len(wavegens), interpol=[0] * len(wavegens))
# startpos = (STARTPOS[0], STARTPOS[1] + AMPLITUDE[1] / 2.0)
# print('move axes {} to their start positions {}'.format(pidevice.axes[:2], startpos))