def main():
# define stim_manager as global so it can be accessed in callback
global stim_manager
# init stimulator node
rospy.init_node('stimulator', anonymous=False)
# get stimulator config
stim_manager = stimulator.Stimulator(
rospy.get_param('/ema_fes_cycling/stimulator'))
# list subscribed topics
sub_ccl = rospy.Subscriber('stimulator/ccl_update',
Stimulator,
callback=callback,
callback_args='ccl_update')
sub_single_pulse = rospy.Subscriber('stimulator/single_pulse',
Stimulator,
callback=callback,
callback_args='single_pulse')
# initialize stimulator ccl mode
stim_manager.ccl_initialize()
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
# stop stimulator ccl mode
stim_manager.ccl_stop()
def main():
# define stim_manager as global so it can be accessed in callback
global stim_manager
# init stimulator node
rospy.init_node('stimulator', anonymous=False)
# get stimulator config
stim_manager = stimulator.Stimulator(rospy.get_param('/ema/stimulator'))
# # list subscribed topics
# sub_ccl = rospy.Subscriber('stimulator/ccl_update', Stimulator, callback = callback, callback_args = 'ccl_update')
# sub_single_pulse = rospy.Subscriber('stimulator/single_pulse', Stimulator, callback = callback, callback_args = 'single_pulse')
channel_lst = [1, 2]
pulse_width = [500, 500]
pulse_current = [2, 2]
# define loop rate (in hz)
rate = rospy.Rate(50)
# node loop
while not rospy.is_shutdown():
for c, pw, pc in zip(channel_lst, pulse_width, pulse_current):
rospy.logdebug('single_pulse in channel %d', c)
rospy.logdebug('pulse_width %d', pw)
rospy.logdebug('pulse_current %d', pc)
stim_manager.single_pulse(channel_number=c,
pulse_width=pw,
pulse_current=pc)
# wait for next loop
rate.sleep()
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def runExamples():
# Single pulse example 1
print 'Single pulse example 1'
config_dict1 = {
'port': '/dev/ttyUSB0',
'channel_stim': [],
'channel_lf': [],
'n_factor': 0,
'ts1': 20,
'ts2': 1.5
}
stim_manager = stimulator.Stimulator(config_dict1)
stim_manager.single_pulse(channel_number=3,
pulse_width=200,
pulse_current=120)
# Single pulse example 2
print 'Single pulse example 2'
config_dict2 = {
'port': '/dev/ttyUSB0',
'channel_stim': [],
'channel_lf': [],
'n_factor': 0,
'ts1': 20,
'ts2': 1.5
}
stim_manager = stimulator.Stimulator(config_dict2)
stim_manager.single_pulse(channel_number=6,
pulse_width=221,
pulse_current=55)
# Channel list mode initialisation example 1
print 'Channel list mode initialisation example 1'
config_dict3 = {
'port': '/dev/ttyUSB0',
'channel_stim': [1, 2, 5],
'channel_lf': [5],
'n_factor': 1,
'ts1': 50,
'ts2': 5
}
stim_manager = stimulator.Stimulator(config_dict3)
stim_manager.ccl_initialize()
# Channel list mode initialisation example 2
print 'Channel list mode initialisation example 2'
config_dict4 = {
'port': '/dev/ttyUSB0',
'channel_stim': [2, 3, 6, 8],
'channel_lf': [2, 3],
'n_factor': 2,
'ts1': 16.5,
'ts2': 6
}
stim_manager = stimulator.Stimulator(config_dict4)
stim_manager.ccl_initialize()
# Channel list mode update example
print 'Channel list mode update example'
config_dict5 = {
'port': '/dev/ttyUSB0',
'channel_stim': [2, 3, 6, 8],
'channel_lf': [2, 3],
'n_factor': 2,
'ts1': 16.5,
'ts2': 6
}
stim_manager = stimulator.Stimulator(config_dict5)
stim_manager.ccl_initialize()
stim_manager.ccl_update(mode={
2: 'single',
3: 'triplet',
6: 'doublet',
8: 'doublet'
},
pulse_width={
2: 100,
3: 200,
6: 300,
8: 400
},
pulse_current={
2: 52,
3: 55,
6: 72,
8: 92
})
def run():
global stim_manager
# examples from docs, mostly to test if buildPacket follows protocol
#runExamples()
# my tests: oscilloscope at 2V/div and 2ms/div, trigger at 6V on CH1
config_dict = {
'port': '/dev/ttyUSB0',
'channel_stim': [1, 2],
'channel_lf': [],
'n_factor': 0,
'ts1': 15,
'ts2': 5
}
stim_manager = stimulator.Stimulator(config_dict)
# test 1: using every function in ccl mode
print 'test 1: using every function in ccl mode'
stim_manager.ccl_initialize()
key = raw_input("press enter to run, 's' to skip")
while key != 's' and key != 'q':
for pc in range(2, 8, 2):
for pw in range(100, 501):
print 'CH2:', 'pc', pc, 'pc', pw, 'doublet'
stim_manager.ccl_update(mode={
1: 'single',
2: 'doublet'
},
pulse_width={
1: 500,
2: pw
},
pulse_current={
1: 6,
2: pc
})
for pw in reversed(range(100, 501)):
print 'CH2:', 'pc', pc, 'pc', pw, 'doublet'
stim_manager.ccl_update(mode={
1: 'single',
2: 'doublet'
},
pulse_width={
1: 500,
2: pw
},
pulse_current={
1: 6,
2: pc
})
for pc in reversed(range(2, 8, 2)):
for pw in range(100, 501):
print 'CH2:', 'pc', pc, 'pc', pw, 'triplet'
stim_manager.ccl_update(mode={
1: 'single',
2: 'triplet'
},
pulse_width={
1: 500,
2: pw
},
pulse_current={
1: 6,
2: pc
})
for pw in reversed(range(100, 501)):
print 'CH2:', 'pc', pc, 'pc', pw, 'triplet'
stim_manager.ccl_update(mode={
1: 'single',
2: 'triplet'
},
pulse_width={
1: 500,
2: pw
},
pulse_current={
1: 6,
2: pc
})
key = raw_input("press enter to rerun test 1, 'q' to quit")
stim_manager.ccl_stop()
# test 2: using single_pulse to generate arbitrary waveforms
print 'test 2: using single_pulse to generate arbitrary waveforms'
key = raw_input("press enter to run, 's' to skip")
while key != 's' and key != 'q':
for pw in range(100, 501):
stim_manager.single_pulse(channel_number=1,
pulse_width=pw,
pulse_current=6)
time.sleep(0.018)
key = raw_input("press enter to re-run test 2, 'q' to quit")