def createWidgets(self):
#Creates magnetic field axis for the x,y, and z axes
self.XAxisLabel = tk.Label(self, text='X-Axis')
self.XAxisLabel.grid(row=0)
self.XAxisValue = tk.DoubleVar()
self.XAxisValue.set(10.0)
self.XAxisValueEntry = tk.Entry(self, bd=5, textvariable=self.XAxisValue)
self.XAxisValueEntry.grid(row=0, column=1)
self.xValue = self.XAxisValue.get()
#Sets up y axis entry field
self.yAxisLabel = tk.Label(self, text='Y-Axis')
self.yAxisLabel.grid(row=1)
self.yAxisValue = tk.DoubleVar()
self.yAxisValue.set(10.0)
self.yAxisValueEntry = tk.Entry(self, bd=5, textvariable=self.yAxisValue)
self.yAxisValueEntry.grid(row=1, column=1)
self.yValue = self.yAxisValue.get()
#Sets up z axis entry field
self.zAxisLabel = tk.Label(self, text='Z-Axis')
self.zAxisLabel.grid(row=2)
self.zAxisValue = tk.DoubleVar()
self.zAxisValue.set(10.0)
self.zAxisValueEntry = tk.Entry(self, bd=5, textvariable=self.zAxisValue)
self.zAxisValueEntry.grid(row=2, column=1)
self.zValue = self.zAxisValue.get()
#Sets up button to take values from axis fields to be magnetic values
self.setField = tk.Button(self, command=self.SetBField)
self.setField['text']='Set Magnetic Field'
self.setField.grid(row=0,column=2)
#Sets up button to take values from axis fields to be current values
self.setCurrent = tk.Button(self, command=self.SetCurrent)
self.setCurrent['text']='Set Current'
self.setCurrent.grid(row=1,column=2)
#Sets up quit button
self.QUIT = tk.Button(self,text='QUIT', fg='red', command=root.destroy)
self.QUIT.grid(row=99,column=1)
# open the powersupplies and the labjack and save the handle
try:
self.handle = xyz.openPorts()
except Exception as e:
raise e
offset = position - setpoint area = 1 * offset derivative = (offset - lastOffset) tempPos = position # load up the prevous position for the next call. output = kP*offset + kD*derivative + kI * area #print(output) return output # value to write to the coils (should be a field value perpendictular to the optical zero) # open the all ports and get the labjack handle handle = xyz.openPorts() #lock in the z because we know what it is (don't change it) zCurrent = (xyz.zCoil.largeCoilCurrent) # this is the rough angle of the optical zero # which we use as our coordinate referance. opticalZeroRotation = math.pi/4 # radians setpoint = 0 lastSum = 0 lastLeft = 0 # make some dque objects for leftMinusRight and sumSignal? nominalFieldOffset = 41.5e-6 outputYField = nominalFieldOffset
import xyzFieldControl as xyz
import numpy as np
import time as time
import matplotlib.pyplot as plt
Bx = np.linspace()
By = np.linspace()
backwardsBy = By[::-1]
minSumSignal = 3.0 # analog voltage goes between 0 and 6 volts roughly
sumSignal = np.array([0.0,0.0])
# open the all ports and get the labjack handle
handle - xyz.openPorts()
#lock in the z because we know what it is (don't change it)
zCurrent = (xyz.zCoil.largeCoilCurrent)
# xyz.zCoil.supply.current(439.5)
try:
for i, xField in enumerate(Bx):
if i % 2:
for j, yField in enumerate(By):
xyz.fine_field_cart(xField, yField, xyz.zCoil.largeCoilField, handle)
#time.sleep(0.1)
result = float(xyz.ljm.eReadName(handle,'AIN0'))
if result > minSumSignal:
sumSignal = np.vstack((sumSignal, np.array([xField, yField])))
else:
for j, yField in enumerate(backwardsBy):
xyz.fine_field_cart(xField, yField, xyz.zCoil.largeCoilField, handle)
def StreamCollection(max_requests=60, scanrate=1000, bKick=True, minSum=-1.0):
#time will take about max_requests/2 in seconds
MAX_REQUESTS = max_requests # The number of eStreamRead calls that will be performed.
FIRST_AIN_CHANNEL = 0 #AIN0
NUMBER_OF_AINS = 3 # AIN0: L-R, AIN1: Sum, AIN2: T-B
rawData = []
# open the all ports and get the labjack handle
handle = xyz.openPorts()
info = ljm.getHandleInfo(handle)
print("Opened a LabJack with Device type: %i, Connection type: %i,\n" \
"Serial number: %i, IP address: %s, Port: %i,\nMax bytes per MB: %i" % \
(info[0], info[1], info[2], ljm.numberToIP(info[3]), info[4], info[5]))
# Stream Configuration
aScanListNames = [
"AIN%i" % i
for i in range(FIRST_AIN_CHANNEL, FIRST_AIN_CHANNEL + NUMBER_OF_AINS)
] #Scan list names
print("\nScan List = " + " ".join(aScanListNames))
numAddresses = len(aScanListNames)
aScanList = ljm.namesToAddresses(numAddresses, aScanListNames)[0]
global scanRate
scanRate = scanrate
scansPerRead = int(scanRate / 2)
try:
# Configure the analog inputs' negative channel, range, settling time and
# resolution.
# Note when streaming, negative channels and ranges can be configured for
# individual analog inputs, but the stream has only one settling time and
# resolution.
aNames = [
"AIN_ALL_NEGATIVE_CH", "AIN_ALL_RANGE", "STREAM_SETTLING_US",
"STREAM_RESOLUTION_INDEX"
]
aValues = [ljm.constants.GND, 10.0, 0,
0] #single-ended, +/-10V, 0 (default),
#0 (default)
ljm.eWriteNames(handle, len(aNames), aNames, aValues)
eventNumber = 0 # keeps track of the event we make a new one each time the user resets the pendulum and hits enter
input('start?')
while True:
if bKick:
# kick the pendulum to drive it so we can take period data.
print('Kicking')
xr, yr, zr = kickUpAndWait(
0, 4.5e-6, 0,
10) # kick the field and save the current values.
#xr,yr,zr = kickUpAndWait(0, 2e-6, 0, 10) # seems like we maight want a bit less kick
# Configure and start stream
scanRate = ljm.eStreamStart(handle, scansPerRead, numAddresses,
aScanList, scanRate)
print("\nStream started with a scan rate of %0.0f Hz." % scanRate)
print("\nPerforming %i stream reads." % MAX_REQUESTS)
if bKick:
kickDown(xr, yr,
zr) # put the currents back to where they were
print('Done Kicking!')
# then do the stream.
start = datetime.now()
totScans = 0
totSkip = 0 # Total skipped samples
i = 1 # counter for number of stream requests
while i <= MAX_REQUESTS:
ret = ljm.eStreamRead(handle)
data = ret[0]
scans = len(data) / numAddresses
totScans += scans
# Count the skipped samples which are indicated by -9999 values. Missed
# samples occur after a device's stream buffer overflows and are
# reported after auto-recover mode ends.
curSkip = data.count(-9999.0)
totSkip += curSkip
print("\neStreamRead %i" % i)
ainStr = ""
for j in range(0, numAddresses):
ainStr += "%s = %0.5f " % (aScanListNames[j], data[j])
print(" 1st scan out of %i: %s" % (scans, ainStr))
print(" Scans Skipped = %0.0f, Scan Backlogs: Device = %i, LJM = " \
"%i" % (curSkip/numAddresses, ret[1], ret[2]))
newDataChunk = np.reshape(
data, (-1, NUMBER_OF_AINS)
) # reshape the data to have each row be a different reading
if i != 1: # if we are not on the first run.
rawData = np.vstack((rawData, newDataChunk))
else:
rawData = newDataChunk # this should only run on the first time.
#print('FIRST RUN THROUGH')
#print(rawData,'\n')
i += 1
end = datetime.now()
print("\nTotal scans = %i" % (totScans))
tt = (end - start).seconds + float(
(end - start).microseconds) / 1000000
print("Time taken = %f seconds" % (tt))
print("LJM Scan Rate = %f scans/second" % (scanRate))
print("Timed Scan Rate = %f scans/second" % (totScans / tt))
print("Timed Sample Rate = %f samples/second" %
(totScans * numAddresses / tt))
print("Skipped scans = %0.0f" % (totSkip / numAddresses))
print("\nStop Stream")
ljm.eStreamStop(handle)
print('current querry!')
# update the powersupply field readings so we can reference them later
xyz.xCoil.getLargeCoilField()
xyz.yCoil.getLargeCoilField()
print('done with current querry!')
# format data to include field values
rawDataWithFieldValues = []
print(rawData)
first = True
for j, row in enumerate(
rawData
): # setp throuh and append the field values to each datapoint
if row[1] >= minSum:
timestamp = j * (1.0 / scanRate)
rowWithFieldValues = np.append(
row,
np.array([
xyz.xCoil.largeCoilField, xyz.yCoil.largeCoilField,
timestamp, eventNumber
])) # for now we aren't using the adustment coils
if first:
first = False
rawDataWithFieldValues = rowWithFieldValues
else: # not on the first loop
rawDataWithFieldValues = np.vstack(
(rawDataWithFieldValues, rowWithFieldValues))
print(np.shape(rawDataWithFieldValues))
# and add it to our master data array
if eventNumber != 0:
#print(np.shape(allTheData))
#print('--------')
#print(np.shape(rawDataWithFieldValues))
allTheData = np.vstack((allTheData, rawDataWithFieldValues))
#print(np.shape(allTheData))
else:
allTheData = rawDataWithFieldValues
print(allTheData)
print(np.shape(allTheData))
input(
"finished with eventNumber %s. Press enter to start a new data run."
% eventNumber)
eventNumber += 1 # increment the event number
except ljm.LJMError:
ljme = sys.exc_info()[1]
print(ljme)
#xyz.closePorts(handle)
except KeyboardInterrupt: # usefull to have a KeyboardInterrupt when your're debugging
# save the data to a DataFrame
print("saving dataFrame")
dataFrame = package_my_data_into_a_dataframe_yay(allTheData)
#dataFrame.to_csv("./data/frequencyVsField/testData.csv")
# generate timestamp
timeStamp1 = time.strftime('%y-%m-%d~%H-%M-%S')
dataFrame.to_csv("./data/Calibrations/freqVsField%s.csv" % timeStamp1)
xyz.closePorts(handle)
except Exception as e:
# helpful to close the ports on except when debugging the code.
# it prevents the devices from thinking they are still conected and refusing the new connecton
# on the next open ports call.
print("saving dataFrame")
dataFrame = package_my_data_into_a_dataframe_yay(allTheData)
#dataFrame.to_csv("./data/frequencyVsField/testData.csv")
# generate timestamp
timeStamp1 = time.strftime('%y-%m-%d~%H-%M-%S')
dataFrame.to_csv("./data/Calibrations/freqVsField%s.csv" % timeStamp1)
xyz.closePorts(handle)
print('closed all the ports\n')
print(e) # print the exception
raise