def openBridge(serialNum):
# Create a bridge object
try:
bridge = Bridge()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
bridge.setOnAttachHandler(BridgeAttached)
bridge.setOnDetachHandler(BridgeDetached)
bridge.setOnErrorhandler(BridgeError)
bridge.setOnBridgeDataHandler(BridgeData)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Calibration Script.\nOpening phidget object....")
try:
bridge.openPhidget(serialNum)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
bridge.waitForAttach(20000)
print("Set data rate to %i ms ..." % (rate))
bridge.setDataRate(rate)
sleep(1)
print("Set Gain to %s..." % str(gainTable[gain]))
setGainAllChanels(bridge, gain)
sleep(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
bridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo(bridge)
return bridge
def openBridge(serialNum):
#Create a bridge object
try:
bridge = Bridge()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
bridge.setOnAttachHandler(BridgeAttached)
bridge.setOnDetachHandler(BridgeDetached)
bridge.setOnErrorhandler(BridgeError)
bridge.setOnBridgeDataHandler(BridgeData)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Calibration Script.\nOpening phidget object....")
try:
bridge.openPhidget(serialNum)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
bridge.waitForAttach(20000)
print("Set data rate to %i ms ..." % (rate))
bridge.setDataRate(rate)
sleep(1)
print("Set Gain to %s..." % str(gainTable[gain]))
setGainAllChanels(bridge,gain)
sleep(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
bridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo(bridge)
return bridge
class PhidgetBridge():
def __init__(self):
self.bridge = Bridge()
self.bridge.setOnAttachHandler(BridgeAttached)
self.bridge.setOnDetachHandler(BridgeDetached)
self.bridge.setOnErrorhandler(BridgeError)
self.bridge.setOnBridgeDataHandler(BridgeData)
# self.data_to_be_sent_bridge = []
# self.times_to_be_sent_bridge = []
def open(self,waitTimeMS):
self.bridge.openPhidget()
try:
self.bridge.waitForAttach(waitTimeMS)
time.sleep(0.2)
self.bridge.setDataRate(8)
time.sleep(0.2)
self.bridge.setGain(0, BridgeGain.PHIDGET_BRIDGE_GAIN_8)
time.sleep(0.2)
self.bridge.setEnabled(0, True)
time.sleep(0.2)
return 1
except:
return -1
# def BridgeData(self,e):
# timeStamp = time.time()
# self.data_to_be_sent_bridge.append(e.value)
# self.times_to_be_sent_bridge.append(timeStamp)
def getData(self):
global data_to_be_sent_bridge
global times_to_be_sent_bridge
#return the data and times and update the lists
data_to_return = [data_to_be_sent_bridge,times_to_be_sent_bridge]
data_to_be_sent_bridge = []
times_to_be_sent_bridge = []
return data_to_return
def close(self):
self.bridge.setEnabled(0,False)
time.sleep(2)
self.bridge.closePhidget()
class PhidgetBridge():
def __init__(self):
self.bridge = Bridge()
self.bridge.setOnAttachHandler(BridgeAttached)
self.bridge.setOnDetachHandler(BridgeDetached)
self.bridge.setOnErrorhandler(BridgeError)
self.bridge.setOnBridgeDataHandler(BridgeData)
# self.data_to_be_sent_bridge = []
# self.times_to_be_sent_bridge = []
def open(self, waitTimeMS):
self.bridge.openPhidget()
try:
self.bridge.waitForAttach(waitTimeMS)
time.sleep(0.2)
self.bridge.setDataRate(8)
time.sleep(0.2)
self.bridge.setGain(0, BridgeGain.PHIDGET_BRIDGE_GAIN_8)
time.sleep(0.2)
self.bridge.setEnabled(0, True)
time.sleep(0.2)
return 1
except:
return -1
# def BridgeData(self,e):
# timeStamp = time.time()
# self.data_to_be_sent_bridge.append(e.value)
# self.times_to_be_sent_bridge.append(timeStamp)
def getData(self):
global data_to_be_sent_bridge
global times_to_be_sent_bridge
#return the data and times and update the lists
data_to_return = [data_to_be_sent_bridge, times_to_be_sent_bridge]
data_to_be_sent_bridge = []
times_to_be_sent_bridge = []
return data_to_return
def close(self):
self.bridge.setEnabled(0, False)
time.sleep(2)
self.bridge.closePhidget()
print("Exiting....")
exit(1)
print("Opening phidget object....")
try:
bridge.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
bridge.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
bridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s\n" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
try:
print("Set data rate to 40ms ...")
print("Exiting....")
exit(1)
print("Opening phidget object....")
try:
bridge.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
bridge.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
bridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
displayDeviceInfo()
try:
print("Set data rate to 8ms ...")
axis1.set_title("Force over Time")
yellowLevel = 60
redLevel = 80
yellowLine = axis1.axhline(yellowLevel, color='y', linestyle='-') # sets yellow horizontal line
redLine = axis1.axhline(redLevel, color='r', linestyle='-') # sets red horizontal line
axis1.grid(color='gray', linestyle='-', linewidth=.25) # sets up the grid
axis1.set_ylabel("Force (lbs)")
axis1.set_xlabel("Time (s)")
line1, = axis1.plot([], [], 'k', lw=3) # creates a line on the axis with no datapoints and width of 2
print("Opening phidget object....")
bridge = Bridge() # Creates PhidgetBridge object
bridge.openPhidget() # Opens Phidgetbridge
bridge.waitForAttach(10000) # waits 10000 ms (10s) for bridge to connect
# variable initializations
xData = []
yData = []
startTime = time.time()
maxForce = 0
imagePos = 0
pause = True
force_text = axis1.text(0.5, 125, "0", fontsize=25)
max_text = axis1.text(0.5, 110, "0", fontsize=25)
time.sleep(1)
displayDeviceInfo()
forceSensorOffset = -bridge.getBridgeValue(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
try:
tempBridge.openPhidget(serial)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
if options.verbose: print("Waiting for attach....")
try:
tempBridge.waitForAttach(20000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
tempBridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
lBridges.append(tempBridge)
# if options.verbose: displayDeviceInfo(lBridges[len(lBridges)-1])
sleep(1)
#Configure settings on each bridge
def __init__(self):
# Information Display Function
def displayDeviceInfo():
print("|------------|----------------------------------|--------------|------------|")
print("|- Attached -|- Type -|- Serial No. -|- Version -|")
print("|------------|----------------------------------|--------------|------------|")
print("|- %8s -|- %30s -|- %10d -|- %8d -|" % (
bridge.isAttached(), bridge.getDeviceName(), bridge.getSerialNum(), bridge.getDeviceVersion()))
print("|------------|----------------------------------|--------------|------------|")
# sets data rate (number of ms between data collection)
# must be a multiple of 8 ms (125 Hz to 1 Hz)
bridge.setDataRate(24)
time.sleep(.2)
print("Data rate set to: ", bridge.getDataRate(), "ms ", 1 / (bridge.getDataRate() * 0.001), " Hz")
# Gain Resoluion Range
# 1 119 nV/V 1000 mV/V
# 8 14.9 nV/V 125 mV/V
# 16 7.45 nV/V 62.5 mV/V
# 32 3.72 nV/V 31.25 mV/V
# 64 1.86 nV/V 15.625 mV/V
# 128 0.92 nV/V 7.8125 mV/V
# Force sensor maxes out around 4 mV/V so set gain to 128
bridge.setGain(1, BridgeGain.PHIDGET_BRIDGE_GAIN_128)
time.sleep(.2)
print("Gain set to: ", bridge.getGain(1))
# Sensor hooked up to input 1 on the PhidgetBridge
print("Enabling Bridge input 1 for reading data...")
bridge.setEnabled(1, True)
time.sleep(.2)
# defines initial parameters
def init():
ax.set_ylim(0, 150)
ax.set_xlim(0, 10)
del xdata[:]
del ydata[:]
line.set_data(xdata, ydata)
force_text.set_text('')
return line, force_text
# update the data
def run(maxForce):
# calculates seconds since program started running
t = time.time() - startTime
# converts bridge voltage output to lbs
y = (bridge.getBridgeValue(1) + 0.007) * 74.3 # lbs/mV
# adds this data onto the xdata and y data
xdata.append(t)
ydata.append(y)
if len(ydata) > 30:
ydata[len(ydata)-1] = (np.mean(ydata[(len(ydata) - 5):]))
# updates plot title with current force* in lbs
plt.title("%.1f" % np.mean(ydata[(len(ydata) - 10):]))
# "%.1f" %" -- formats following number as a float with 1 value after the decimal
# np.mean() -- takes the mean
# len(ydata) -- computes the length of ydata
# ydata[(len(ydata)-10):] -- takes the last ten values of ydata (similar to MATLAB colon notation)
# So really avergaing the last 10 values (0.24s) worth of data
currentForce = np.mean(ydata[(len(ydata) - 10):])
force_text.set_text("Current Force: %.1f" % currentForce + " lbs")
force_text.set_size(30)
if currentForce > maxForce:
maxForce = currentForce
max_text.set_text("Max Force: %.1f" % np.max(ydata) + " lbs")
max_text.set_size(30)
a, b = force_text.get_position()
c, d = max_text.get_position()
# calculates current bounds on the x-axis
xmin, xmax = ax.get_xlim()
# if the data is within 2 second of the end of the graph
if t >= xmax - 2:
ax.set_xlim(t-8, t+2) # increment the x-axis
force_text.set_position((t-7.5, b))
max_text.set_position((t-7.5, d))
ax.figure.canvas.draw() # redraw the graph
line.set_data(xdata, ydata) # update x and y values
return line
print("Opening phidget object....")
# Creates bridge object
bridge = Bridge()
# Opens phidget
bridge.openPhidget()
# waits 10000 ms (10s) for bridge to connect
bridge.waitForAttach(10000)
displayDeviceInfo()
# sets up plot
fig, ax = plt.subplots()
line, = ax.plot([], [], lw=2)
ax.grid()
xdata, ydata = [], []
startTime = time.time()
time_template = 'time = %.1fs'
force_text = plt.text(0.5, 125, "0")
max_text = plt.text(0.5, 110, "0")
# animates the graph
ani = animation.FuncAnimation(fig, run, blit=False, interval=10, repeat=False, init_func=init)
plt.show()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
try:
tempBridge.openPhidget(serial)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
if options.verbose: print("Waiting for attach....")
try:
tempBridge.waitForAttach(20000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
tempBridge.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
lBridges.append(tempBridge)
# if options.verbose: displayDeviceInfo(lBridges[len(lBridges)-1])
sleep(1)
#Configure settings on each bridge