def generateDevices(self):
for i in xrange(self.instrument['main']['devices']):
devconf = {
'board': None,
'analog':{
'in' : None,
'out':None},
'digital':{
'in': None,
'out': None,
'io': None},
'counter': None}
device = Device(self.parser.get('Device'+str(i),'path'))
device.open()
devconf['board'] = device
try:
devconf['analog']['in'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.ai)
except PyComediError:
pass
try:
devconf['analog']['out'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.ao, factory = StreamingSubdevice)
except PyComediError:
pass
try:
devconf['digital']['in'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.di)
except PyComediError:
pass
try:
devconf['digital']['out'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.do)
except PyComediError:
pass
try:
devconf['digital']['io'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.dio)
except PyComediError:
pass
try:
devconf['counter'] = device.find_subdevice_by_type(
CONSTANTS.SUBDEVICE_TYPE.counter)
except PyComediError:
pass
self.instrument['devices'][i] = devconf
def __init__(self):
dev = rospy.get_param('~comedi_dev', '/dev/comedi0')
chan_out = rospy.get_param('~comedi_out_chan', 0)
chan_in = rospy.get_param('~comedi_in_chan', 0)
self.device = Device(dev)
self.device.open()
subdev_out = self.device.find_subdevice_by_type(SUBDEVICE_TYPE.ao)
subdev_in = self.device.find_subdevice_by_type(SUBDEVICE_TYPE.ai)
self.channel_out = subdev_out.channel(chan_out,
factory=AnalogChannel,
aref=AREF.ground)
self.channel_in = subdev_in.channel(chan_in,
factory=AnalogChannel,
aref=AREF.ground)
self.channel_out.range = self.channel_out.find_range(unit=UNIT.volt,
min=0,
max=10)
self.channel_in.range = self.channel_in.find_range(unit=UNIT.volt,
min=1,
max=5)
self.max = self.channel_in.get_maxdata()
self.conv_out = self.channel_out.get_converter()
self.conv_in = self.channel_in.get_converter()
def __init__(self):
self.device = Device('/dev/comedi0')
self.device.open()
