def calculate_and_move_trap(self):
global phi, angle, haptic_toggle
t1 = time.time()
phi_focus = phase_algorithms.phase_find(rt,x,y,z)
t2 = time.time()
# Making it so if haptic is on it will only focus and if its off it will add the pattern
if haptic_toggle == False:
phi = phase_algorithms.add_twin_signature(rt,phi_focus, angle)
else:
phi = phi_focus
t3 = time.time()
#print("T1 = :", t2-t1)
#print("T2 = :", t3-t2)
t4 = time.time()
for i in range(88):
# Send offset commands
command = Functions.create_board_command_offset(board, i, phi[i])
reply = self.com.send_json(command)
if reply["Status"] != "Success":
raise Exception("Failed to start conversion", reply)
t5 = time.time()
#print("T3 = :", t5-t4)
# Send load offset command
command = Functions.create_board_command_load_offsets(board)
reply = self.com.send_json(command)
if reply["Status"] != "Success":
raise Exception("Failed to start conversion 1", reply)
def calculate_and_move_trap(self):
import math
import phase_algorithms
import numpy as np
import transducer_placment
global phase_index
phi_focus = phase_algorithms.phase_find(rt, x, y, z)
phi = phase_algorithms.add_twin_signature(rt, phi_focus, 90)
for transducer in range(0, ntrans):
phase_index[transducer] = int(2500 - phi[transducer] /
((2 * math.pi) / 1250))
print(" ")
print("Moved!")
print("Phase index is ", phase_index)
print("New Position: ", "x = "
"%.3f" % x, "y = "
"%.3f" % y, "z = "
"%.3f" % z) #tester
from connect import Controller
with Controller() as ctl:
ctl.setOutputDACPower(256)
ctl.setOutputDACDivisor(100)
for i in range(ctl.outputs):
ctl.setOffset(i, phase_index[i])
ctl.loadOffsets()
"""
# ----------------------Setup for potential calculation------------------------
#rt = transducer_placment.array_grid(0.01,10,10) # spcing , x nummber, y number of transducers
rt = transducer_placment.big_daddy()
#rt = transducer_placment.random(88,0.05,0.01)
ntrans = len(rt) # Total number of transducers in grid
nt = transducer_placment.direction_vectors(
ntrans, [0, 0, 1]) # nt is the direction vector of each transducer
focus_point = [0, 0, 0]
phi_focus = phase_algorithms.phase_find(
rt, focus_point[0], focus_point[1], focus_point[2]
) # phi is the initial phase of each transducer to focus on a point
phi_signature = phase_algorithms.add_twin_signature(rt, np.copy(phi_focus), 90)
#phi_signature = phase_algorithms.add_vortex_signature(rt, np.copy(phi_focus))
#phi_signature = phase_algorithms.add_bottle_signature(rt, np.copy(phi_focus),0.03)
#phi_noise = phase_algorithms.phase_random_noise(2, np.copy(phi_signature)) # number is randomness multiplier (0-1)*multiplier scaled between 0 and 2pi
phi = phi_signature
potential_calculated = algorithms.force_calc(
focus_point, rt, nt, phi, vti=False
) ## Outputs = pabs, fx, fy, fz, u_with_gravity, u_with_gravity_nano, laplace_u
u_with_gravity_nano = potential_calculated[5]
potential_array = u_with_gravity_nano
rt = transducer_placment.delete_transducers(rt,trans_to_delete)
ntrans = len(rt);
global phase_index
# -------------------------------------------------------------------------- #p
choose = input("Please choose haptic as (h) or pattern as (p) or moving as (m) or GUI controled movment as (GUI): ")
## --------------------------- Haptic feedback --------------------------- ##
if choose == ("h"):
print ("Haptic mode selected")
phase_index = np.zeros((ntrans),dtype=int)
phi_focus = phase_algorithms.phase_find( rt, 0, 0, 0.08 ) # (x , y , z) (z = up)
for transducer in range(0,ntrans):
phase_index[transducer] = int(2500-phi_focus[transducer]/((2*math.pi)/1250))
from connect import Controller
with Controller() as ctl:
while True: # Turns the pattern off and on as fast as possible
for i in range(ctl.outputs):
ctl.setOffset(i,phase_index[i])
ctl.loadOffsets()
for i in range(ctl.outputs):
ctl.disableOutput(i)
# -------------------------------------------------------------------------- #
with Controller() as com:
command_power = Functions.create_board_command_power(board, 256)
reply_power = com.send_json(command_power)
if reply_power["Status"] != "Success":
raise Exception("Failed to start conversion 2", reply_power)
## --------------------------- Haptic feedback --------------------------- ##
elif choose == ("h"):
print ("Haptic mode selected")
phi_focus = phase_algorithms.phase_find(rt,0,0,0.10)
from Controller import Controller
with Controller() as com:
for i in range(88):
# Send offset commands
command = Functions.create_board_command_offset(board, i, phi_focus[i], True)
reply = com.send_json(command)
if reply["Status"] != "Success":
raise Exception("Failed to start conversion 1", reply)
# Send load offset command
command = Functions.create_board_command_load_offsets(board)
reply = com.send_json(command)
if reply["Status"] != "Success":
raise Exception("Failed to start conversion 1", reply)
