def run(self):
def PositionChangeHandler(self, positionChange, timeChange,
indexTriggered):
global prevTime
currentTime = time.perf_counter()
## print(str((currentTime-prevTime)*1000)+" "+str(positionChange/timeChange/360/4*1000))##
if ("y" in fileSave) or ("Y" in fileSave):
## f.write(str(positionChange/timeChange/360/4*1000)+"\r\n")
f.write(str((currentTime - prevTime) * 1000) + "\r\n")
avVel = positionChange
prevTime = currentTime
def EncoderAttached(e):
try:
attached = e
print("\nEncoder Attached")
print("\n")
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def EncoderDetached(e):
detached = e
try:
print("\nEncoder Detached")
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def ErrorEvent(e, eCode, description):
print("Error %i : %s" % (eCode, description))
en = Encoder()
while not stopped:
if not en.getAttached():
try:
en.setOnAttachHandler(EncoderAttached)
en.setOnDetachHandler(EncoderDetached)
en.setOnErrorHandler(ErrorEvent)
en.setOnPositionChangeHandler(PositionChangeHandler)
print("\nWaiting for encoder to attach")
en.openWaitForAttachment(5000)
if (not en.getEnabled()):
en.setEnabled(1)
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit\n")
readin = sys.stdin.read(1)
exit(1)
en.setDataInterval(encoderDataRate)
en.close()
def main():
#Create your Phidget channels
encoder0 = Encoder()
#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.
encoder0.setOnPositionChangeHandler(onPositionChange)
#Open your Phidgets and wait for attachment
encoder0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
encoder0.close()
def main():
# Make sure current path is this file path
abspath = os.path.abspath(__file__)
dname = os.path.dirname(abspath)
os.chdir(dname)
############
#import config file
config = ConfigParser.ConfigParser()
print("opening configuration file : config.cfg")
config.read('config.cfg')
############
#connect to mqtt broker
client = MQTT_client.createClient("Encoder", config)
############
#connection to Phidget encoder and wait for measures
#publish the datas on config/MQTT/topic
try:
Log.enable(LogLevel.PHIDGET_LOG_INFO, "phidgetlog.log")
#Create your Phidget channels
encoder0 = Encoder()
#Set addressing parameters to specify
encoder0.client = client
encoder0.clientTopic = config.get('MQTT', 'topic_publish')
encoder0.printLog = config.getboolean('encoder', 'printLog')
encoder0.chooseDataInterval = config.getint('encoder', 'dataInterval')
#Assign any event handlers you need before calling open so that no events are missed.
encoder0.setOnPositionChangeHandler(handler.onPositionChange)
encoder0.setOnAttachHandler(handler.onAttach)
encoder0.setOnDetachHandler(handler.onDetach)
#Open your Phidgets and wait for attachment
encoder0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers.
#Change the data interval from the encoder based on config datas
# encoder0.setDataInterval(config.getint('encoder','dataInterval'))
#Interupt script by pressing Enter
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
encoder0.close()
except PhidgetException as ex:
#We will catch Phidget Exceptions here, and print the error informaiton.
traceback.print_exc()
print("")
print("PhidgetException " + str(ex.code) + " (" + ex.description +
"): " + ex.details)
finally:
encoder0.close()
#print("Position: %f\n" % motorControl.getMotorCount())
print("Position Changed: %7d %7.3lf %d\n" % (positionChange, timeChange, indexTriggered))
try:
motorControl.setOnAttachHandler(ObjectAttached)
motorControl.setOnDetachHandler(ObjectDetached)
motorControl.setOnErrorHandler(ErrorEvent)
motorControl.setOnVelocityUpdateHandler(VelocityUpdateHandler)
enc.setOnAttachHandler(ObjectAttached)
enc.setOnDetachHandler(ObjectDetached)
enc.setOnErrorHandler(ErrorEvent)
enc.setOnPositionChangeHandler(PositionChangeHandler)
print("Waiting for the Phidget DCMotor Object to be attached...")
motorControl.openWaitForAttachment(5000)
enc.openWaitForAttachment(5000)
except PhidgetException as e:
motorControl.setTargetVelocity(0)
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
if(not enc.getEnabled()):
enc.setEnabled(1)