class StrainSensor(Sensor):
'''Class used to handle load cell type sensors. Extends Sensor class '''
def __init__(self,
deviceSN,
channelNo,
dataInterval,
refreshPeriod,
sensorName=None):
'''
Constructor for strain sensor phidgets. Takes standard Sensor arguments
'''
self.channelNo = channelNo
self.sensorUnits = "Kg"
self.useCallibration = False
self.gradient = 1
self.intercept = 0
Sensor.__init__(self, deviceSN, dataInterval, refreshPeriod,
sensorName)
def attachSensor(self):
'''
Connects the strain sensor to the application
'''
self.channel = VoltageRatioInput()
self.channel.setDeviceSerialNumber(self.deviceSN)
self.channel.setChannel(self.channelNo)
self.channel.openWaitForAttachment(100)
print("\n***** {} Sensor Attached *****".format(self.sensorName))
self.attached = True
self.channel.setDataInterval(self.dataInterval)
self.channel.setBridgeGain(0x8)
def activateDataListener(self):
'''
Sets up the event which triggers when the sensor updates its utput values
'''
self.startTime = time.time()
def onSensorValueChange(channelObject, voltageRatio):
rawTime = time.time()
deltaTime = rawTime - self.startTime
if self.useCallibration:
voltageRatio = voltageRatio * self.gradient + self.intercept
self.dataQ.put([voltageRatio, deltaTime, rawTime])
self.channel.setOnVoltageRatioChangeHandler(onSensorValueChange)
def setCallibration(self, gradient, intercept):
'''
Used to give the sensor callibration values.
'''
self.gradient = gradient
self.intercept = intercept
self.useCallibration = True
def main():
voltageRatioInput0 = VoltageRatioInput()
voltageRatioInput0.setOnVoltageRatioChangeHandler(onVoltageRatioChange)
voltageRatioInput0.openWaitForAttachment(5000)
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
voltageRatioInput0.close()
async def LoadCellManagerTest(logger_func, **kwargs):
"""
First Prototype Function
"""
voltage_func = lambda V: kwargs["m"] * V + kwargs["b"]
manager = Manager()
def onVoltage(self, vr):
logger_func(voltage_func, vr)
volr = VoltageRatioInput()
volr.setOnVoltageRatioChangeHandler(onVoltage)
volr.openWaitForAttachment(5000)
while 1:
pass
async def LoadCellManager(logger_func, **kwargs):
"""
Generic Function for DataRecorderClass Format
"""
#voltage_func = lambda V: kwargs["m"]*V + kwargs["b"]
manager = Manager()
def onVoltage(self, vr):
data = {"timestamp": ts(), "voltage": vr}
logger_func(data)
volr = VoltageRatioInput()
volr.setOnVoltageRatioChangeHandler(onVoltage)
volr.openWaitForAttachment(5000)
while 1:
pass
class VoltageRatioSensor(Sensor):
'''Class used to handle any sensor which uses a ratiometric voltage input '''
def __init__(self,
deviceSN,
channelNo,
dataInterval,
refreshPeriod,
sensorType,
sensorName=None):
'''
Connects the sensor to the application
'''
self.channelNo = channelNo
self.sensorType = sensorType
self.sensorUnits = None
Sensor.__init__(self, deviceSN, dataInterval, refreshPeriod,
sensorName)
def attachSensor(self):
'''
Connects the sensor to the application
'''
self.channel = VoltageRatioInput()
self.channel.setDeviceSerialNumber(self.deviceSN)
self.channel.setChannel(self.channelNo)
self.channel.openWaitForAttachment(100)
print("\n***** {} Sensor Attached *****".format(self.sensorName))
self.attached = True
self.channel.setSensorType(self.sensorType)
self.channel.setDataInterval(self.dataInterval)
self.sensorUnits = self.channel.getSensorUnit().symbol
def activateDataListener(self):
'''
Sets up the event which triggers when the sensor updates its outputs
'''
self.startTime = time.time()
def onSensorValueChange(channelObject, sensorVlue, sensorUnit):
rawTime = time.time()
deltaTime = rawTime - self.startTime
self.dataQ.put(
[channelObject.getSensorValue(), deltaTime, rawTime])
self.channel.setOnSensorChangeHandler(onSensorValueChange)
def main():
ir_reflective_sensor = VoltageRatioInput()
ir_reflective_sensor.setChannel(5)
ir_reflective_sensor.setOnSensorChangeHandler(on_ir_change)
ir_reflective_sensor.openWaitForAttachment(5000)
ir_reflective_sensor.setSensorType(VoltageRatioSensorType.SENSOR_TYPE_1103)
sharp_distance_sensor_left = VoltageRatioInput()
sharp_distance_sensor_left.setChannel(6)
sharp_distance_sensor_left.setOnSensorChangeHandler(on_sharp_change)
sharp_distance_sensor_left.openWaitForAttachment(5000)
sharp_distance_sensor_left.setSensorType(
VoltageRatioSensorType.SENSOR_TYPE_1101_SHARP_2Y0A21)
sharp_distance_sensor_right = VoltageRatioInput()
sharp_distance_sensor_right.setChannel(7)
sharp_distance_sensor_right.setOnSensorChangeHandler(on_sharp_change)
sharp_distance_sensor_right.openWaitForAttachment(5000)
sharp_distance_sensor_right.setSensorType(
VoltageRatioSensorType.SENSOR_TYPE_1101_SHARP_2Y0A21)
while True:
pass
ir_reflective_sensor.close()
sharp_distance_sensor_left.close()
sharp_distance_sensor_right.close()
class jigCurrent(object):
'''current sensor'''
def __init__(self, provider, channel):
self.ai = VoltageRatioInput()
self.ai.setDeviceSerialNumber(provider)
self.ai.setChannel(channel)
self.ai.setOnAttachHandler(self._attached)
self.ai.openWaitForAttachment(1000)
def _attached(self, event):
self.ai.setSensorType(VoltageRatioSensorType.SENSOR_TYPE_1122_DC)
self.ai.setDataInterval(100)
self.ai.setVoltageRatioChangeTrigger(0)
@property
def current(self):
return self.ai.getSensorValue()
@property
def unitInfo(self):
return self.ai.getSensorUnit()
def main():
voltageRatioInput0 = VoltageRatioInput()
voltageRatioInput0.setIsHubPortDevice(True)
voltageRatioInput0.setHubPort(0)
print(*[x for x in voltageRatioInput0.__dir__() if "DataInterval" in x],
sep="\n")
voltageRatioInput0.setOnVoltageRatioChangeHandler(onVoltageRatioChange)
voltageRatioInput0.openWaitForAttachment(5000)
print(voltageRatioInput0.getMinDataInterval(),
voltageRatioInput0.getMaxDataInterval())
voltageRatioInput0.setDataInterval(100)
voltageRatioInput0.setSensorValueChangeTrigger(0.01)
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
voltageRatioInput0.close()
def main():
#Create your Phidget channels
voltageRatioInput0 = VoltageRatioInput()
#Set addressing parameters to specify which channel to open (if any)
#Assign any event handlers you need before calling open so that no events are missed.
voltageRatioInput0.setOnSensorChangeHandler(onSensorChange)
#Open your Phidgets and wait for attachment
voltageRatioInput0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers.
#Set the sensor type to match the analog sensor you are using after opening the Phidget
voltageRatioInput0.setSensorType(VoltageRatioSensorType.SENSOR_TYPE_1111)
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
voltageRatioInput0.close()
def main():
port = "/dev/ttyACM0"
try:
print("Trying Arduino Set Up...")
s1 = serial.Serial(port, 9600)
if s1.name == port:
current_time_struct = time.localtime()
current_time = "{}:{}:{}".format(current_time_struct[3],
current_time_struct[4],
current_time_struct[5])
s1.flushInput()
lines = []
time.sleep(1.5)
try:
with open("hx711_output.csv", newline='') as csvFile:
print("Successfully found CSV file.\n")
reader = csv.reader(csvFile)
except:
print("File does not exist, creating file.\n")
with open("hx711_output.csv", 'w') as csvFile:
writer = csv.writer(csvFile)
writer.writerows(["Time", "Weight"])
with open("hx711_output.csv", 'a') as csvFile:
print("Successfully opened CSV file for writing\n")
writer = csv.writer(csvFile)
while 1:
current_time_struct = time.localtime()
current_time = '{}:{}:{}'.format(current_time_struct[3],
current_time_struct[4],
current_time_struct[5])
if s1.in_waiting > 0:
num_bytes = s1.read(1)
print(num_bytes)
weight = s1.read(num_bytes)
print(weight)
#writer.writerows([current_time, weight])
except:
try:
print("Arduino Set Up Failed, Trying Phidget...")
ch = VoltageRatioInput()
ch.setOnAttachHandler(onAttachHandler)
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
ch.voltageRatio = 0.0
try:
print("Waiting for Attachment")
ch.openWaitForAttachment(10000)
ch.setDataInterval(10)
except PhidgetException as e:
print("Attachment Timed Out")
#time.sleep(10)
#Checks to see if enter has been pressed
readin = sys.stdin.readline()
while readin != "\n":
time.sleep(1)
ch.close()
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.close()
return 1
except RunTimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
ch = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
channelInfo = AskForDeviceParameters(ch)
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
if (channelInfo.netInfo.isRemote):
ch.setIsRemote(channelInfo.netInfo.isRemote)
if (channelInfo.netInfo.serverDiscovery):
try:
Net.enableServerDiscovery(
PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
except PhidgetException as e:
PrintEnableServerDiscoveryErrorMessage(e)
raise EndProgramSignal(
"Program Terminated: EnableServerDiscovery Failed")
else:
Net.addServer("Server", channelInfo.netInfo.hostname,
channelInfo.netInfo.port,
channelInfo.netInfo.password, 0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
PrintEventDescriptions()
print("\nSetting OnVoltageRatioChangeHandler...")
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
print("\nSetting OnSensorChangeHandler...")
ch.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
print(
"You can do stuff with your Phidgets here and/or in the event handlers."
)
time.sleep(10)
"""
* Perform clean up and exit
"""
print("\nDone Sampling...")
print("Cleaning up...")
ch.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.close()
return 1
except RuntimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def main():
"""
* Define how long the program runs for
"""
runtime = int(input("Measure for long long: ")) # seconds
"""
* Allocate a new Phidget Channel object
"""
ch = VoltageRatioInput()
ch2 = VoltageRatioInput()
ch3 = VoltageRatioInput()
ch4 = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
ch.setDeviceSerialNumber(533379)
ch.setIsHubPortDevice(False)
ch.setChannel(0)
ch2.setDeviceSerialNumber(533379)
ch2.setIsHubPortDevice(False)
ch2.setChannel(1)
ch3.setDeviceSerialNumber(533379)
ch3.setIsHubPortDevice(False)
ch3.setChannel(2)
ch4.setDeviceSerialNumber(533379)
ch4.setIsHubPortDevice(False)
ch4.setChannel(3)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
ch.setOnAttachHandler(onAttachHandler)
ch2.setOnAttachHandler(onAttachHandler)
ch3.setOnAttachHandler(onAttachHandler)
ch4.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch2.setOnDetachHandler(onDetachHandler)
ch3.setOnDetachHandler(onDetachHandler)
ch4.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch2.setOnErrorHandler(onErrorHandler)
ch3.setOnErrorHandler(onErrorHandler)
ch4.setOnErrorHandler(onErrorHandler)
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler2)
ch3.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler3)
ch4.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler4)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
ch.openWaitForAttachment(5000)
ch2.openWaitForAttachment(5000)
ch3.openWaitForAttachment(5000)
ch4.openWaitForAttachment(5000)
time.sleep(runtime)
"""
* Perform clean up and exit
"""
#clear the VoltageRatioChange event handler
ch.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch4.setOnVoltageRatioChangeHandler(None)
print("Cleaning up...")
ch.close()
ch2.close()
ch3.close()
ch4.close()
f1.close()
f2.close()
f3.close()
f4.close()
print("\nExiting...")
return 0
class WeightSensor:
def __init__(self):
self.weight_value = -1
self.has_ended = False
self.try_weight_sensor()
def try_weight_sensor(self):
print("Try Weight Sensor")
try:
# Allocate a new Phidget Channel object
self.ch = VoltageRatioInput()
self.do = DigitalOutput()
self.ch.setChannel(0)
self.do.setChannel(6)
self.ch.setOnAttachHandler(onAttachHandler)
self.ch.setOnDetachHandler(onDetachHandler)
self.ch.setOnErrorHandler(onErrorHandler)
self.ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
self.ch.setOnSensorChangeHandler(onSensorChangeHandler)
# Open the channel with a timeout
try:
self.ch.openWaitForAttachment(5000)
self.do.openWaitForAttachment(5000)
except PhidgetException as e:
# PrintOpenErrorMessage(e, self.ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("THREAD STARTING")
weight_thread = threading.Thread(
target=self.start_getting_weight_value)
weight_thread.daemon = True
weight_thread.start()
except Exception as e:
self.ch.close()
self.try_conneting_again()
def start_getting_weight_value(self):
while not self.has_ended:
try:
self.weight_value = self.ch.getVoltageRatio()
except:
self.ch.close()
break
time.sleep(0.25)
self.try_conneting_again()
def try_conneting_again(self):
self.has_ended = True
print(
"Weight sensor failed! Trying to connect to the weight sensor again in 3 2 1..."
)
time.sleep(3)
self.ch = None
self.do = None
self.has_ended = False
self.weight_value = -1
self.try_weight_sensor()
def get_weight_value(self):
return self.weight_value
#
# The default is any channel.
#
# ch.setChannel(0)
# In order to attach to a network Phidget, the program must connect to a Phidget22 Network Server.
# In a normal environment this can be done automatically by enabling server discovery, which
# will cause the client to discovery and connect to available servers.
#
# To force the channel to only match a network Phidget, set remote to 1.
#
# Net.enableServerDiscovery(PhidgetServerType.PHIDGETSERVER_DEVICE);
# ch.setIsRemote(1)
print("Waiting for the Phidget VoltageRatioInput Object to be attached...")
ch.openWaitForAttachment(5000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
if (ch.getChannelSubclass() ==
ChannelSubclass.PHIDCHSUBCLASS_VOLTAGERATIOINPUT_BRIDGE):
ch.setBridgeEnabled(1)
#%% Collect Data (set collection time in here)
print("Gathering data...")
time.sleep(30) # sleep(collection time in seconds)
#%% Store Voltage Ratios into text file
def main():
global current, voltage, app, serverUpdateThread, hadPhidgetException, sessionFile
hadPhidgetException = False
voltage_sensor = None
current_sensor = None
serverUpdateThread = StoppableThread()
sessionNum = 0
with open("numSessions.txt", "r+") as numSessionsFile:
sessionNum = int(numSessionsFile.read()) + 1
print(sessionNum)
numSessionsFile.seek(0)
numSessionsFile.write(str(sessionNum))
numSessionsFile.truncate()
numSessionsFile.close()
timestamp = datetime.now()
sessionFile = open(
"Sessions/session" + str(sessionNum) + "_" + str(timestamp.month) +
"-" + str(timestamp.day) + "_" + str(timestamp.hour) + "-" +
str(timestamp.minute) + "-" + str(timestamp.second) + ".txt", "w+")
print("Session File created")
try:
voltage_sensor = VoltageInput()
current_sensor = VoltageRatioInput()
voltage_sensor.setHubPort(0)
voltage_sensor.setIsHubPortDevice(False)
voltage_sensor.setOnVoltageChangeHandler(on_new_voltage_reading)
current_sensor.setHubPort(1)
current_sensor.setIsHubPortDevice(True)
current_sensor.setOnVoltageRatioChangeHandler(on_new_current_reading)
voltage_sensor.openWaitForAttachment(1000)
current_sensor.openWaitForAttachment(1000)
serverUpdateThread.start()
atexit.register(exit_handler)
app.run(host='0.0.0.0')
voltage_sensor.close()
current_sensor.close()
except PhidgetException as e:
print(e)
hadPhidgetException = True
exit_handler(voltage_sensor, current_sensor)
except KeyboardInterrupt as key:
print(key)
exit_handler(voltage_sensor, current_sensor)
except IOError as e:
print(e)
exit_handler(voltage_sensor, current_sensor)
def main2():
global sleeptime
try:
"""
* Allocate a new Phidget Channel object
"""
ch2 = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
#channelInfo = AskForDeviceParameters(ch)
ch2.setDeviceSerialNumber(566690)
ch2.setChannel(2)
"""
* Add event handlers before calling open so that no events are missed.
"""
#print("\n--------------------------------------")
#print("\nSetting OnAttachHandler...")
ch2.setOnAttachHandler(onAttachHandler)
#print("Setting OnDetachHandler...")
ch2.setOnDetachHandler(onDetachHandler)
#print("Setting OnErrorHandler...")
ch2.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
#PrintEventDescriptions()
#print("\nSetting OnVoltageRatioChangeHandler...")
ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
#print("\nSetting OnSensorChangeHandler...")
ch2.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
#print("\nOpening and Waiting for Attachment...")
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open Failed")
#print("Sampling data for 10 seconds...")
#print("You can do stuff with your Phidgets here and/or in the event handlers.")
time.sleep(sleeptime)
"""
* Perform clean up and exit
"""
#print("\nDone Sampling...")
#print("Cleaning up...")
ch2.close()
#print("\nExiting...")
global data
weight2 = data
datalist.clear()
return weight2
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch2.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch2.close()
return 1
except RuntimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
try:
ch0 = VoltageRatioInput()
ch1 = VoltageRatioInput()
ch2 = VoltageRatioInput()
ch3 = VoltageRatioInput()
ch4 = VoltageRatioInput()
ch5 = VoltageRatioInput()
ch6 = VoltageRatioInput()
ch7 = VoltageRatioInput()
ch8 = VoltageRatioInput()
ch9 = VoltageRatioInput()
except PhidgetException as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t" + e)
raise
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
#channelInfo = AskForDeviceParameters(ch)
ch0.setDeviceSerialNumber(474147)
ch0.setHubPort(0)
ch0.setIsHubPortDevice(0)
ch0.setChannel(0)
ch1.setDeviceSerialNumber(474147)
ch1.setHubPort(0)
ch1.setIsHubPortDevice(0)
ch1.setChannel(1)
ch2.setDeviceSerialNumber(474147)
ch2.setHubPort(0)
ch2.setIsHubPortDevice(0)
ch2.setChannel(2)
ch3.setDeviceSerialNumber(474147)
ch3.setHubPort(0)
ch3.setIsHubPortDevice(0)
ch3.setChannel(3)
ch4.setDeviceSerialNumber(000000)
ch4.setHubPort(0)
ch4.setIsHubPortDevice(0)
ch4.setChannel(0)
ch5.setDeviceSerialNumber(000000)
ch5.setHubPort(0)
ch5.setIsHubPortDevice(0)
ch5.setChannel(1)
ch6.setDeviceSerialNumber(000000)
ch6.setHubPort(0)
ch6.setIsHubPortDevice(0)
ch6.setChannel(2)
ch7.setDeviceSerialNumber(000000)
ch7.setHubPort(0)
ch7.setIsHubPortDevice(0)
ch7.setChannel(3)
ch8.setDeviceSerialNumber(000000)
ch8.setHubPort(0)
ch8.setIsHubPortDevice(0)
ch8.setChannel(0)
ch9.setDeviceSerialNumber(000000)
ch9.setHubPort(0)
ch9.setIsHubPortDevice(0)
ch9.setChannel(1)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch0.setOnAttachHandler(onAttachHandler)
ch1.setOnAttachHandler(onAttachHandler)
ch2.setOnAttachHandler(onAttachHandler)
ch3.setOnAttachHandler(onAttachHandler)
ch4.setOnAttachHandler(onAttachHandler)
ch5.setOnAttachHandler(onAttachHandler)
ch6.setOnAttachHandler(onAttachHandler)
ch7.setOnAttachHandler(onAttachHandler)
ch8.setOnAttachHandler(onAttachHandler)
ch9.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch0.setOnDetachHandler(onDetachHandler)
ch1.setOnDetachHandler(onDetachHandler)
ch2.setOnDetachHandler(onDetachHandler)
ch3.setOnDetachHandler(onDetachHandler)
ch4.setOnDetachHandler(onDetachHandler)
ch5.setOnDetachHandler(onDetachHandler)
ch6.setOnDetachHandler(onDetachHandler)
ch7.setOnDetachHandler(onDetachHandler)
ch8.setOnDetachHandler(onDetachHandler)
ch9.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch0.setOnErrorHandler(onErrorHandler)
ch1.setOnErrorHandler(onErrorHandler)
ch2.setOnErrorHandler(onErrorHandler)
ch3.setOnErrorHandler(onErrorHandler)
ch4.setOnErrorHandler(onErrorHandler)
ch5.setOnErrorHandler(onErrorHandler)
ch6.setOnErrorHandler(onErrorHandler)
ch7.setOnErrorHandler(onErrorHandler)
ch8.setOnErrorHandler(onErrorHandler)
ch9.setOnErrorHandler(onErrorHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch0.openWaitForAttachment(5000)
ch1.openWaitForAttachment(5000)
ch2.openWaitForAttachment(5000)
ch3.openWaitForAttachment(5000)
ch4.openWaitForAttachment(5000)
ch5.openWaitForAttachment(5000)
ch6.openWaitForAttachment(5000)
ch7.openWaitForAttachment(5000)
ch8.openWaitForAttachment(5000)
ch9.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch0)
PrintOpenErrorMessage(e, ch1)
PrintOpenErrorMessage(e, ch2)
PrintOpenErrorMessage(e, ch3)
PrintOpenErrorMessage(e, ch4)
PrintOpenErrorMessage(e, ch5)
PrintOpenErrorMessage(e, ch6)
PrintOpenErrorMessage(e, ch7)
PrintOpenErrorMessage(e, ch8)
PrintOpenErrorMessage(e, ch9)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data...")
print(
"You can do stuff with your Phidgets here and/or in the event handlers."
)
time.sleep(5)
#Create csv file to write data to
file_path = os.path.join('C:', 'Users', 'Jacob Bennedsen', 'Desktop',
'Python Files', 'Learning', 'Creep_Test.csv')
csvfile = open(file_path, 'w')
filewriter = csv.writer(csvfile,
delimiter=',',
lineterminator='\n',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
#Write header row to csv
filewriter.writerow([
'Time (s)', 'ch0 (V/V)', 'ch1 (V/V)', 'ch2 (V/V)', 'ch3 (V/V)',
'ch4 (V/V)', 'ch5 (V/V)', 'ch6 (V/V)', 'ch7 (V/V)', 'ch8 (V/V)',
'ch9 (V/V)'
])
delay = 1 #seconds
#Initialize lists to be used for data plotting
logged_time = list()
w0 = list()
w1 = list()
w2 = list()
w3 = list()
w4 = list()
w5 = list()
w6 - list()
w7 = list()
w8 = list()
w9 = list()
tms = list(1, 3600, delay)
for i in tms:
v0 = ch0.getVoltageRatio()
v1 = ch1.getVoltageRatio()
v2 = ch2.getVoltageRatio()
v3 = ch3.getVoltageRatio()
v4 = ch4.getVoltageRatio()
v5 = ch5.getVoltageRatio()
v6 = ch6.getVoltageRatio()
v7 = ch7.getVoltageRatio()
v8 = ch8.getVoltageRatio()
v9 = ch9.getVoltageRatio()
w0.append(v0) #Add latest voltage ratio to list
w1.append(v1)
w2.append(v2)
w3.append(v3)
w4.append(v4)
w5.append(v5)
w6.append(v6)
w7.append(v7)
w8.append(v8)
w9.append(v9)
#Write the collected data to a csv
filewriter.writerow(
[tms[i], v0, v1, v2, v3, v4, v5, v6, v7, v8, v9])
time.sleep(
delay) #Wait for the specified time before looping again
csvfile.close()
#Plot data
plt.plot(logged_time, w0, label='ch0')
plt.plot(logged_time, w1, label='ch1')
plt.plot(logged_time, w2, label='ch2')
plt.plot(logged_time, w3, label='ch3')
plt.plot(logged_time, w4, label='ch4')
plt.plot(logged_time, w5, label='ch5')
plt.plot(logged_time, w6, label='ch6')
plt.plot(logged_time, w7, label='ch7')
plt.plot(logged_time, w8, label='ch8')
plt.plot(logged_time, w9, label='ch9')
plt.legend()
plt.show()
"""
* Perform clean up and exit
"""
#clear the VoltageRatioChange event handler
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch4.setOnVoltageRatioChangeHandler(None)
ch5.setOnVoltageRatioChangeHandler(None)
ch6.setOnVoltageRatioChangeHandler(None)
ch7.setOnVoltageRatioChangeHandler(None)
ch8.setOnVoltageRatioChangeHandler(None)
ch9.setOnVoltageRatioChangeHandler(None)
print("\nDone Sampling...")
print("Cleaning up...")
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def main():
try:
try:
ch0 = VoltageRatioInput()
ch1 = VoltageRatioInput()
ch2 = VoltageRatioInput()
ch3 = VoltageRatioInput()
except PhidgetException as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t" + e)
raise
" Set matching parameters to specify which channel to open"
ch0.setDeviceSerialNumber(494011)
ch0.setChannel(0)
ch1.setDeviceSerialNumber(494011)
ch1.setChannel(1)
ch2.setDeviceSerialNumber(494011)
ch2.setChannel(2)
ch3.setDeviceSerialNumber(494011)
ch3.setChannel(3)
" event handlers before calling open so that no events are missed. "
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch0.setOnAttachHandler(onAttachHandler)
ch1.setOnAttachHandler(onAttachHandler)
ch2.setOnAttachHandler(onAttachHandler)
ch3.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch0.setOnDetachHandler(onDetachHandler)
ch1.setOnDetachHandler(onDetachHandler)
ch2.setOnDetachHandler(onDetachHandler)
ch3.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch0.setOnErrorHandler(onErrorHandler)
ch1.setOnErrorHandler(onErrorHandler)
ch2.setOnErrorHandler(onErrorHandler)
ch3.setOnErrorHandler(onErrorHandler)
print("\nSetting onVoltageRatioChangeHandler...")
#ch0.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
#ch1.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
#ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
#ch3.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
" Open the channel with a timeout "
print("\nOpening and Waiting for Attachment...")
try:
ch0.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch0)
raise EndProgramSignal("Program Terminated: Open Failed")
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open Failed")
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open Failed")
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open Failed")
for n in range(100):
cal0 = -ch0.getVoltageRatio()
cal1 = -ch1.getVoltageRatio()
cal2 = -ch2.getVoltageRatio()
cal3 = -ch3.getVoltageRatio()
time.sleep(0.008)
while True:
conv(ch0, ch1, ch2, ch3, cal0, cal1, cal2, cal3)
time.sleep(0.008)
#Print(ch0.getVoltageRatio())
print(" Press enter to exit ")
readin = sys.stdin.readline()
" Perform clean up and exit "
print("\nDone Sampling...")
print("Cleaning up...")
ch0.close()
ch1.close()
ch2.close()
ch3.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch0.close()
ch1.close()
ch2.close()
ch3.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch0.close()
ch1.close()
ch2.close()
ch3.close()
return 1
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
try:
ch0 = VoltageRatioInput()
ch1 = VoltageRatioInput()
ch2 = VoltageRatioInput()
ch3 = VoltageRatioInput()
ch4 = VoltageRatioInput()
ch5 = VoltageRatioInput()
ch6 = VoltageRatioInput()
ch7 = VoltageRatioInput()
ch8 = VoltageRatioInput()
ch9 = VoltageRatioInput()
digi = DigitalInput()
except PhidgetException as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageRatioInput: \n\t" + e)
raise
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
#channelInfo = AskForDeviceParameters(ch)
ch0.setDeviceSerialNumber(474147)
ch0.setHubPort(0)
ch0.setIsHubPortDevice(0)
ch0.setChannel(0)
ch1.setDeviceSerialNumber(474147)
ch1.setHubPort(0)
ch1.setIsHubPortDevice(0)
ch1.setChannel(1)
ch2.setDeviceSerialNumber(474147)
ch2.setHubPort(0)
ch2.setIsHubPortDevice(0)
ch2.setChannel(2)
ch3.setDeviceSerialNumber(474147)
ch3.setHubPort(0)
ch3.setIsHubPortDevice(0)
ch3.setChannel(3)
ch4.setDeviceSerialNumber(474147)
ch4.setHubPort(0)
ch4.setIsHubPortDevice(0)
ch4.setChannel(0)
ch5.setDeviceSerialNumber(000000)
ch5.setHubPort(0)
ch5.setIsHubPortDevice(0)
ch5.setChannel(1)
ch6.setDeviceSerialNumber(000000)
ch6.setHubPort(0)
ch6.setIsHubPortDevice(0)
ch6.setChannel(2)
ch7.setDeviceSerialNumber(000000)
ch7.setHubPort(0)
ch7.setIsHubPortDevice(0)
ch7.setChannel(3)
ch8.setDeviceSerialNumber(000000)
ch8.setHubPort(0)
ch8.setIsHubPortDevice(0)
ch8.setChannel(0)
ch9.setDeviceSerialNumber(000000)
ch9.setHubPort(0)
ch9.setIsHubPortDevice(0)
ch9.setChannel(1)
digi.setDeviceSerialNumber(000000)
digi.setHubPort(0)
digisetIsHubPortDevice(0)
digi.setChannel(0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch0.setOnAttachHandler(onAttachHandler)
ch1.setOnAttachHandler(onAttachHandler)
ch2.setOnAttachHandler(onAttachHandler)
ch3.setOnAttachHandler(onAttachHandler)
ch4.setOnAttachHandler(onAttachHandler)
ch5.setOnAttachHandler(onAttachHandler)
ch6.setOnAttachHandler(onAttachHandler)
ch7.setOnAttachHandler(onAttachHandler)
ch8.setOnAttachHandler(onAttachHandler)
ch9.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch0.setOnDetachHandler(onDetachHandler)
ch1.setOnDetachHandler(onDetachHandler)
ch2.setOnDetachHandler(onDetachHandler)
ch3.setOnDetachHandler(onDetachHandler)
ch4.setOnDetachHandler(onDetachHandler)
ch5.setOnDetachHandler(onDetachHandler)
ch6.setOnDetachHandler(onDetachHandler)
ch7.setOnDetachHandler(onDetachHandler)
ch8.setOnDetachHandler(onDetachHandler)
ch9.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch0.setOnErrorHandler(onErrorHandler)
ch1.setOnErrorHandler(onErrorHandler)
ch2.setOnErrorHandler(onErrorHandler)
ch3.setOnErrorHandler(onErrorHandler)
ch4.setOnErrorHandler(onErrorHandler)
ch5.setOnErrorHandler(onErrorHandler)
ch6.setOnErrorHandler(onErrorHandler)
ch7.setOnErrorHandler(onErrorHandler)
ch8.setOnErrorHandler(onErrorHandler)
ch9.setOnErrorHandler(onErrorHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch0.openWaitForAttachment(5000)
ch1.openWaitForAttachment(5000)
ch2.openWaitForAttachment(5000)
ch3.openWaitForAttachment(5000)
ch4.openWaitForAttachment(5000)
ch5.openWaitForAttachment(5000)
ch6.openWaitForAttachment(5000)
ch7.openWaitForAttachment(5000)
ch8.openWaitForAttachment(5000)
ch9.openWaitForAttachment(5000)
digi.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch0)
PrintOpenErrorMessage(e, ch1)
PrintOpenErrorMessage(e, ch2)
PrintOpenErrorMessage(e, ch3)
PrintOpenErrorMessage(e, ch4)
PrintOpenErrorMessage(e, ch5)
PrintOpenErrorMessage(e, ch6)
PrintOpenErrorMessage(e, ch7)
PrintOpenErrorMessage(e, ch8)
PrintOpenErrorMessage(e, ch9)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
print(
"You can do stuff with your Phidgets here and/or in the event handlers."
)
time.sleep(5)
#Create csv file to write data to
file_path = os.path.join('C:', 'Users', 'Jacob Bennedsen', 'Desktop',
'Python Files', 'Learning',
'Fatigue_Test.csv')
csvfile = open(file_path, 'w')
filewriter = csv.writer(csvfile,
delimiter=',',
lineterminator='\n',
quotechar='|',
quoting=csv.QUOTE_MINIMAL)
#Write header row to csv
filewriter.writerow([
'Signal Iteration', 'Time (s)', 'ch0 (V/V)', 'ch1 (V/V)',
'ch2 (V/V)', 'ch3 (V/V)', 'ch4 (V/V)', 'ch5 (V/V)', 'ch6 (V/V)',
'ch7 (V/V)', 'ch8 (V/V)', 'ch9 (V/V)'
])
delay = 1 #seconds
#Initialize lists to be used for data plotting
logged_time = list()
w0 = list()
w1 = list()
w2 = list()
w3 = list()
w4 = list()
w5 = list()
w6 - list()
w7 = list()
w8 = list()
w9 = list()
d = deque([0, 0]) #Deque to check for change in state
d.maxlen(2) #Set max length of deque to 2
sig_count = 0 #Count of changes in state
i = 0 #Iteration of loop
start_time = time.monotonic() #Start time betweeen state change timer
elapsed_time = 0 #Initialize the elapsed time
while elapsed_time < 30: #Loop while the time between state changes is less than 30 sec
elapsed_time = time.monotonic() - start_time #Update elapsed time
d.append(digi.getState()) #Get the latest PLC signal value
if d[0] != d[1]: #Check if the latest and previous values changed
start_time = time.monotonic(
) #If yes then reset time between state changes
sig_count += 1 #Increment signal count
t = i * delay #Timestamp based upon loop iterations and data collection delay
#Store latest voltage ratio from each channel in a variable
v0 = ch0.getVoltageRatio()
v1 = ch1.getVoltageRatio()
v2 = ch2.getVoltageRatio()
v3 = ch3.getVoltageRatio()
v4 = ch4.getVoltageRatio()
v5 = ch5.getVoltageRatio()
v6 = ch6.getVoltageRatio()
v7 = ch7.getVoltageRatio()
v8 = ch8.getVoltageRatio()
v9 = ch9.getVoltageRatio()
logged_time.append(t) #Add latest time to list
w0.append(v0) #Add latest voltage ratio to list
w1.append(v1)
w2.append(v2)
w3.append(v3)
w4.append(v4)
w5.append(v5)
w6.append(v6)
w7.append(v7)
w8.append(v8)
w9.append(v9)
#Write the collected data to a csv
filewriter.writerow(
[sig_count, t, v0, v1, v2, v3, v4, v5, v6, v7, v8, v9])
i += 1 #Increment iterations
time.sleep(
delay) #Wait for the specified time before looping again
csvfile.close()
#Plot data
plt.plot(logged_time, w0, label='ch0')
plt.plot(logged_time, w1, label='ch1')
plt.plot(logged_time, w2, label='ch2')
plt.plot(logged_time, w3, label='ch3')
plt.plot(logged_time, w4, label='ch4')
plt.plot(logged_time, w5, label='ch5')
plt.plot(logged_time, w6, label='ch6')
plt.plot(logged_time, w7, label='ch7')
plt.plot(logged_time, w8, label='ch8')
plt.plot(logged_time, w9, label='ch9')
plt.legend()
plt.show()
"""
* Perform clean up and exit
"""
#clear the VoltageRatioChange event handler
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch4.setOnVoltageRatioChangeHandler(None)
ch5.setOnVoltageRatioChangeHandler(None)
ch6.setOnVoltageRatioChangeHandler(None)
ch7.setOnVoltageRatioChangeHandler(None)
ch8.setOnVoltageRatioChangeHandler(None)
ch9.setOnVoltageRatioChangeHandler(None)
print("\nDone Sampling...")
print("Cleaning up...")
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch0.setOnVoltageRatioChangeHandler(None)
ch1.setOnVoltageRatioChangeHandler(None)
ch2.setOnVoltageRatioChangeHandler(None)
ch3.setOnVoltageRatioChangeHandler(None)
ch0.close()
ch1.close()
ch2.close()
ch3.close()
ch4.close()
ch5.close()
ch6.close()
ch7.close()
ch8.close()
ch9.close()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def main():
global w1
global w2
global w3
global w4
global c1
global c2
global c3
global c4
mvalue = []
"""
* Define how long the program runs for
"""
runtime = 10 # seconds
"""
* Allocate a new Phidget Channel object
"""
ch = VoltageRatioInput()
ch2 = VoltageRatioInput()
ch3 = VoltageRatioInput()
ch4 = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
ch.setDeviceSerialNumber(533379)
ch.setIsHubPortDevice(False)
ch.setChannel(0)
ch2.setDeviceSerialNumber(533379)
ch2.setIsHubPortDevice(False)
ch2.setChannel(1)
ch3.setDeviceSerialNumber(533379)
ch3.setIsHubPortDevice(False)
ch3.setChannel(2)
ch4.setDeviceSerialNumber(533379)
ch4.setIsHubPortDevice(False)
ch4.setChannel(3)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
ch.setOnAttachHandler(onAttachHandler)
ch2.setOnAttachHandler(onAttachHandler)
ch3.setOnAttachHandler(onAttachHandler)
ch4.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch2.setOnDetachHandler(onDetachHandler)
ch3.setOnDetachHandler(onDetachHandler)
ch4.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch2.setOnErrorHandler(onErrorHandler)
ch3.setOnErrorHandler(onErrorHandler)
ch4.setOnErrorHandler(onErrorHandler)
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler2)
ch3.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler3)
ch4.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler4)
"""
* Open the channel with a timeout
"""
print "motor 1 - w1"
ch.openWaitForAttachment(5000)
time.sleep(runtime)
ch.setOnVoltageRatioChangeHandler(None)
mvalue.append(w1 / c1)
w1 = 0
c1 = 0
x = raw_input("motor 1 - w2")
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
ch.openWaitForAttachment(5000)
time.sleep(runtime)
ch.setOnVoltageRatioChangeHandler(None)
mvalue.append(w1 / c1)
w1 = 0
c1 = 0
x = raw_input("motor 2 - w1")
ch2.openWaitForAttachment(5000)
time.sleep(runtime)
ch2.setOnVoltageRatioChangeHandler(None)
mvalue.append(w2 / c2)
w2 = 0
c2 = 0
x = raw_input("motor 2 - w2")
ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler2)
ch2.openWaitForAttachment(5000)
time.sleep(runtime)
ch2.setOnVoltageRatioChangeHandler(None)
mvalue.append(w2 / c2)
w2 = 0
c2 = 0
x = raw_input("motor 3 - w1")
ch3.openWaitForAttachment(5000)
time.sleep(runtime)
ch3.setOnVoltageRatioChangeHandler(None)
mvalue.append(w3 / c3)
w3 = 0
c3 = 0
x = raw_input("motor 3 - w2")
ch3.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler3)
ch3.openWaitForAttachment(5000)
time.sleep(runtime)
ch3.setOnVoltageRatioChangeHandler(None)
mvalue.append(w3 / c3)
w3 = 0
c3 = 0
x = raw_input("motor 4 - w1")
ch4.openWaitForAttachment(5000)
time.sleep(runtime)
ch4.setOnVoltageRatioChangeHandler(None)
mvalue.append(w4 / c4)
w4 = 0
c4 = 0
x = raw_input("motor 4 - w2")
ch4.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler4)
ch4.openWaitForAttachment(5000)
time.sleep(runtime)
ch4.setOnVoltageRatioChangeHandler(None)
mvalue.append(w4 / c4)
w4 = 0
c4 = 0
# calibration
cali.run_calibration(mvalue)
print("calibration file saved...")
ch.close()
ch2.close()
ch3.close()
ch4.close()
print("\nExiting...")
return 0
class PneumaticFrame2:
def __init__(self, master, initial_name, top_name, color, sol, reg_pwr,
reg_set, reg_get, PSI):
self.frame = Frame(master, borderwidth=2, relief=SUNKEN, bg=color)
self.frame.pack()
self.master = master
self.frame_name = StringVar()
self.frame_name.set(initial_name)
self.state = 0
self.fontType = "Comic Sans"
self.activeColor = 'SpringGreen4'
self.frameColor = color
self.pressure = IntVar()
self.lock_flag = IntVar()
self.pressure.set("")
self.power = Button(self.frame,
text="PWR",
activebackground=self.activeColor,
command=lambda: self.toggle_pwr())
self.set_label = Button(self.frame,
text="SET LABEL",
font=(self.fontType, 7),
command=lambda: self.get_label_input())
self.observed_pressure = Entry(self.frame,
width=5,
state="readonly",
textvariable=self.pressure)
if self.frame_name.get() == "Hydro":
self.set_pressure_scale = Scale(self.frame,
orient=HORIZONTAL,
from_=0,
to=92,
resolution=0.5,
bg=color,
label="Set Pressure (PSI)",
highlightthickness=0,
command=self.set_pressure)
else:
self.set_pressure_scale = Scale(self.frame,
orient=HORIZONTAL,
from_=0,
to=50,
resolution=0.5,
bg=color,
label="Set Pressure (PSI)",
highlightthickness=0,
command=self.set_pressure)
self.custom_label = Label(self.frame,
textvariable=self.frame_name,
font=(self.fontType, 14),
bg=color)
self.label = Label(self.frame, text=initial_name, bg=color)
self.lock = Checkbutton(self.frame,
text="LOCK",
bg=color,
variable=self.lock_flag,
command=self.lock)
self.frame_name.set(top_name)
# Init the pressure scale to the default value.
self.set_pressure_scale.set(PSI)
# Lock hydo at startup
if initial_name == "Hydro":
self.lock.select()
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
self.frame.rowconfigure(0, minsize=30)
self.custom_label.grid(row=0, column=0, columnspan=2, sticky=S)
self.set_label.grid(column=0, row=1, columnspan=2)
self.frame.rowconfigure(2, minsize=50)
self.power.grid(column=0, row=2)
self.observed_pressure.grid(column=1, row=2)
self.set_pressure_scale.grid(column=0, row=3, columnspan=2, padx=20)
self.frame.rowconfigure(4, minsize=5)
self.label.grid(column=0, row=5)
self.lock.grid(column=1, row=5)
# Connect to Phidget Solid State Relay for solinoid control
if self.frame_name.get() == "Hydro":
self.solenoid_switch = DigitalOutput()
self.solenoid_switch.setDeviceSerialNumber(sol[0])
self.solenoid_switch.setIsHubPortDevice(False)
self.solenoid_switch.setHubPort(sol[1])
self.solenoid_switch.setChannel(sol[2])
self.solenoid_switch.openWaitForAttachment(5000)
#Connect to Phidget Solid State Relay for regulator power control
self.reg_switch = DigitalOutput()
self.reg_switch.setDeviceSerialNumber(reg_pwr[0])
self.reg_switch.setIsHubPortDevice(False)
self.reg_switch.setHubPort(reg_pwr[1])
self.reg_switch.setChannel(reg_pwr[2])
self.reg_switch.openWaitForAttachment(5000)
#Connect to Phidget Voltage Ouptut for pressure control
self.pressure_ctrl = VoltageOutput()
self.pressure_ctrl.setDeviceSerialNumber(reg_set[0])
self.pressure_ctrl.setIsHubPortDevice(False)
self.pressure_ctrl.setHubPort(reg_set[1])
self.pressure_ctrl.setChannel(reg_set[2])
self.pressure_ctrl.openWaitForAttachment(5000)
#Connect to Phidget Analog Input for pressure reading
self.pressure_reading = VoltageRatioInput()
self.pressure_reading.setDeviceSerialNumber(reg_get[0])
#One of the VINT Hubs on the SBC is used and needs special configuration
if reg_get[0] == SBCH:
self.pressure_reading.setIsHubPortDevice(True)
self.pressure_reading.setHubPort(0)
self.pressure_reading.setChannel(reg_get[1])
self.pressure_reading.openWaitForAttachment(5000)
def toggle_pwr(self):
#Turn on air channel
if self.state == 0:
#Turn on power to regulator and show active button color
self.power.config(bg=self.activeColor)
self.reg_switch.setState(True)
if self.frame_name.get() == "Hydro":
self.solenoid_switch.setState(True)
#Start monitoring air pressure
self.update_pressure()
#Change state of air channel
self.state = 1
#Turn off air channel
elif self.state == 1:
remember_state = self.set_pressure_scale.get()
if self.frame_name.get() != "Hydro":
messagebox.showinfo(
self.frame_name.get() + " Warning",
"Pressure will be set to zero. Acknowledge that " +
self.frame_name.get() + " is in a safe configuration")
# Change pressure to zero
self.set_pressure_scale.set(0)
self.set_pressure(0)
time.sleep(0.5)
self.frame.update()
self.reg_switch.setState(False)
time.sleep(0.5)
self.set_pressure_scale.set(remember_state)
if self.frame_name.get() == "Hydro":
self.solenoid_switch.setState(False)
self.lock.select()
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
#Turn off power to reguluator and remove active button color
self.power.config(bg="SystemButtonFace")
#Update air channel state
self.state = 0
def get_label_input(self):
self.window = popupWindow(self.master)
self.set_label.config(state=DISABLED)
self.master.wait_window(self.window.top)
self.set_label.config(state=NORMAL)
#If the user does not enter a value exception will be produced
try:
if len(self.window.value) > 12:
self.frame_name.set("SET ERROR")
else:
self.frame_name.set(self.window.value)
except:
self.frame_name.set("SET ERROR")
def set_pressure(self, val):
# Pressure Range
range = MAXPR - MINPR
# Calculate volts/PSI
ratio = 5 / range
self.pressure_ctrl.setVoltage(float(val) * ratio)
def update_pressure(self):
if self.reg_switch.getState():
try:
val = float(self.pressure_reading.getSensorValue())
PSI = val * 165.63 - 30.855
PSI = round(PSI, 2)
self.pressure.set(PSI)
#Low pressure check
if PSI < (self.set_pressure_scale.get() - 3):
if self.frame.cget('bg') == "Red":
self.frame.config(bg=self.frameColor)
self.set_pressure_scale.config(bg=self.frameColor)
self.custom_label.config(bg=self.frameColor)
self.label.config(bg=self.frameColor)
self.lock.config(bg=self.frameColor)
else:
self.frame.config(bg='Red')
self.set_pressure_scale.config(bg="Red")
self.custom_label.config(bg="Red")
self.label.config(bg="Red")
self.lock.config(bg="Red")
if PSI > (self.set_pressure_scale.get() - 3):
if self.frame.cget('bg') == "Red":
self.frame.config(bg=self.frameColor)
self.set_pressure_scale.config(bg=self.frameColor)
self.custom_label.config(bg=self.frameColor)
self.label.config(bg=self.frameColor)
self.lock.config(bg=self.frameColor)
except:
print("Init Air Pressure")
root.after(200, self.update_pressure)
else:
self.pressure.set("")
def lock(self):
if self.lock_flag.get() == True:
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
elif self.lock_flag.get() == False:
self.set_pressure_scale.config(state="normal")
self.power.config(state="normal")
pan.setAcceleration(ACCEL) #Setup Pnematics pressure_ctrl = VoltageOutput() pressure_ctrl.setDeviceSerialNumber(540047) pressure_ctrl.setIsHubPortDevice(False) pressure_ctrl.setHubPort(3) pressure_ctrl.setChannel(0) pressure_ctrl.openWaitForAttachment(5000) pressure_reading = VoltageRatioInput() pressure_reading.setDeviceSerialNumber(540047) pressure_reading.setIsHubPortDevice(False) pressure_reading.setHubPort(0) pressure_reading.setChannel(0) pressure_reading.openWaitForAttachment(5000) solenoid = DigitalOutput() solenoid.setDeviceSerialNumber(540047) solenoid.setIsHubPortDevice(False) solenoid.setHubPort(4) solenoid.setChannel(3) solenoid.openWaitForAttachment(5000) root = Tk() pressure = IntVar() power_btn = Button(root, text="PWR", font="Courier, 12", command=toggle_power) near = Button(root, text="NEAR", font="Courier, 12", width=7) far = Button(root, text="FAR", font="Courier, 12", width=7)
from Phidget22.Phidget import *
from Phidget22.Devices.VoltageRatioInput import *
print("testing")
ch1 = VoltageRatioInput()
ch1.setChannel(1)
ch1.openWaitForAttachment(1000)
ch2=VoltageRatioInput()
ch2.setChannel(2)
ch2.openWaitForAttachment(1000)
ch3 = VoltageRatioInput()
ch3.setChannel(0)
ch3.openWaitForAttachment(1000)
excitationvoltage=-10000 / 0.0459
while True:
voltageRatio1 = excitationvoltage*ch1.getVoltageRatio() +1.3
voltageRatio2 = excitationvoltage*ch2.getVoltageRatio() +1.3
voltageRatio3 = excitationvoltage*ch3.getVoltageRatio() +1.3 + 2.5
bucket1=voltageRatio1+voltageRatio2+voltageRatio3
print(bucket1)
ch1.close()
bCur.openWaitForAttachment(1000)
if C:
# Motor C: Setup Motor Control and Motor Current
mtrC = DCMotor()
mtrC.setDeviceSerialNumber(474333)
mtrC.openWaitForAttachment(1000)
mtrC.setAcceleration(ACCEL)
cCur = CurrentInput()
cCur.setDeviceSerialNumber(474333)
cCur.openWaitForAttachment(1000)
pot = VoltageRatioInput()
pot.setDeviceSerialNumber(474333)
pot.openWaitForAttachment(1000)
pot.setOnVoltageRatioChangeHandler(joystick_movement)
pot.setVoltageRatioChangeTrigger(0.05)
root = Tk()
if A:
aCur_reading = StringVar()
if B:
bCur_reading = StringVar()
if C:
cCur_reading = StringVar()
title = Label(root, text="3 Axis Open Loop Controller", font="Courier, 14")
if A:
l1 = Label(root, text="Cur(A)")