def sunsensor_read(delay, track_time, filter_mode, ss_read, SS1_id, SS1_com,
SS1_baudrate, SS2_id, SS2_com, SS2_baudrate, SS3_id,
SS3_com, SS3_baudrate, SS1_queue, SS2_queue, SS3_queue,
ss_eshim_x, ss_eshim_y):
from ss import SS
ss1 = SS(inst_id=SS1_id, com_port=SS1_com, baudrate=SS1_baudrate)
ss2 = SS(inst_id=SS2_id, com_port=SS2_com, baudrate=SS2_baudrate)
ss3 = SS(inst_id=SS3_id, com_port=SS3_com, baudrate=SS3_baudrate)
time_start = time.time()
print('i am starting')
while True:
#SS1
time_ss1_0 = time.time()
ss1.read_data_all() #Read all data from sun sensor using SS class
time_ss1_1 = time.time()
ss1_tstamp = time.time() - (time_ss1_1 - time_ss1_0) / 2.
if filter_mode == 2: #Use filtered data if filter mode=2, otherwise use raw data
if (SS1_queue.full() == False):
SS1_queue.put([
ss1.ang_x_filt + ss_eshim_x[0],
ss1.ang_y_filt + ss_eshim_y[0], ss1_tstamp
]) #add electronic shims to angle offset for tracking
else:
SS1_queue.get()
SS1_queue.put([
ss1.ang_x_filt + ss_eshim_x[0],
ss1.ang_y_filt + ss_eshim_y[0], ss1_tstamp
])
else:
if (SS1_queue.full() == False):
#print([ss1.ang_x_raw + ss_eshim_x[0],ss1.ang_y_raw + ss_eshim_y[0],ss1_tstamp])
SS1_queue.put([
ss1.ang_x_raw + ss_eshim_x[0],
ss1.ang_y_raw + ss_eshim_y[0], ss1_tstamp
])
else:
#print('too full')
SS1_queue.get()
SS1_queue.put([
ss1.ang_x_raw + ss_eshim_x[0],
ss1.ang_y_raw + ss_eshim_y[0], ss1_tstamp
])
#SS2
time_ss2_0 = time.time()
ss2.read_data_all() #Read all data from sun sensor using SS class
time_ss2_1 = time.time()
ss2_tstamp = time.time() - (time_ss2_1 - time_ss2_0) / 2.
if filter_mode == 2: #Use filtered data if filter mode=2, otherwise use raw data
if (SS2_queue.full() == False):
SS2_queue.put([
ss2.ang_x_filt + ss_eshim_x[1],
ss2.ang_y_filt + ss_eshim_y[1], ss2_tstamp
]) #add electronic shims to angle offset for tracking
else:
SS2_queue.get()
SS2_queue.put([
ss2.ang_x_filt + ss_eshim_x[1],
ss2.ang_y_filt + ss_eshim_y[1], ss2_tstamp
])
else:
if (SS2_queue.full() == False):
SS2_queue.put([
ss2.ang_x_raw + ss_eshim_x[1],
ss2.ang_y_raw + ss_eshim_y[1], ss2_tstamp
])
else:
SS2_queue.get()
SS2_queue.put([
ss2.ang_x_filt + ss_eshim_x[1],
ss2.ang_y_filt + ss_eshim_y[1], ss2_tstamp
])
#SS3
time_ss3_0 = time.time()
# ss3.read_data_all() #Read all data from sun sensor using SS class
# time_ss3_1=time.time()
# ss3_tstamp=time.time() - (time_ss3_1-time_ss3_0)/2.
# if filter_mode == 2: #Use filtered data if filter mode=2, otherwise use raw data
# if(SS3_queue.full()==False):
# SS3_queue.put([ss3.ang_x_filt + ss_eshim_x[2],ss3.ang_y_filt + ss_eshim_y[2],ss3_tstamp]) #add electronic shims to angle offset for tracking
# else:
# SS3_queue.get()
# SS3_queue.put([ss3.ang_x_filt + ss_eshim_x[2],ss3.ang_y_filt + ss_eshim_y[2],ss3_tstamp])
# else:
# if(SS3_queue.full()==False):
# SS3_queue.put([ss3.ang_x_raw + ss_eshim_x[2],ss3.ang_y_raw + ss_eshim_y[2],ss3_tstamp])
# else:
# SS3_queue.get()
# SS3_queue.put([ss3.ang_x_filt + ss_eshim_x[2],ss3.ang_y_filt + ss_eshim_y[2],ss3_tstamp])
#Ensure you are at the rate
time_diff = time.time() - time_ss1_0
if delay - time_diff > 0:
#print('sleeping off my delay ',delay-time_diff)
time.sleep(delay - time_diff)
# Exit the function once tracking time has been reached
if ((time.time() - time_start) > track_time):
#Note: try catch to stop PTU is not commented here, ensure if it would be able to be called
#ptu.cmd('ps0')
#ptu.cmd('ts0')
print("Tracking complete!")
return
mpl.rcParams['axes.labelsize'] = base_size
mpl.rcParams['lines.markersize'] = 4 # markersize, in points
mpl.rcParams['legend.markerscale'] = 1 # line width in points
mpl.rcParams[
'lines.markeredgewidth'] = 0.4 # the line width around the marker symbol
mpl.rcParams['lines.linewidth'] = 4
colors = [
'tab:blue', 'tab:orange', 'tab:green', 'tab:red', 'tab:purple',
'tab:brown', 'tab:pink', 'tab:gray', 'tab:olive', 'tab:cyan'
]
################################################################################
from ptu_newmark import PTU
from ss import SS
import time
ss1 = SS(inst_id=1, com_port='COM6', baudrate=115200)
ptu_x = PTU(com_port='COM11', baudrate=115200)
ptu_y = PTU(com_port='COM9', baudrate=115200)
scan_speed = 80000
scan_increment = 7.5 #degrees for each grid block
scan_x_count = 1
scan_y_count = 1
scan_detect_limit = 4
deg2pos = 20000
ss_eshim_x = 0.0
ss_eshim_y = 0.0
ptu_x.cmd('@01SSPD' + str(scan_speed) + '\r')
ptu_y.cmd('@01SSPD' + str(scan_speed) + '\r')
# -*- coding: utf-8 -*-
"""
Created on Sun Jul 8 14:57:47 2018
@author: Bailey group PC
"""
from ss import SS
import time
from datetime import datetime
#ss1 = SS(inst_id=2,com_port='COM4',baudrate=115200)
#ss1 = SS(inst_id=1,com_port='COM6',baudrate=115200)
ss1 = SS(inst_id=4, com_port='COM6', baudrate=115200)
#ss1 = SS(inst_id=1,com_port='COM6',baudrate=115200)
hz = 2
rec_time = 50000
delay = 1.0 / hz
t0 = time.time()
while time.time() - t0 < rec_time:
d_time = datetime.now()
#Read data
ss1.read_data_all()
print('x=', ss1.ang_x_raw, 'y=', ss1.ang_y_raw)
#Ensure that this loop iterates at desired data rate
t_diff = time.time() - t0
if (delay - t_diff) > 0:
time.sleep(delay - t_diff)
else:
#Define data collection parameters
track_time=120 #number of seconds to capture data/track
hz=10 #data sample rate
cnt=0
delay = 1.0/hz
#Define directory to save data in
#save_dir = 'C:/git_repos/GLO/Tutorials/tracking/'
save_dir= 'C:/Users/Bobby/Documents/GitHub/GLO_Tracking/'
#Obtain ephemeris data
ep = ephem.Observer()
#Establish communication with sun sensor/s - store in a list
ss=[SS(inst_id=1,com_port='COM7',baudrate=115200),
SS(inst_id=2,com_port='COM4',baudrate=115200),
SS(inst_id=3,com_port='COM7',baudrate=115200)]
#List of sun sensors to read data from
ss_read = [2,3]
#List of sun sensors to use for tracking
ss_track = [2,3]
# ss_eshim_x = [-1.763, -1.547, -1.578] #Specify electronic shims (x-dir) for sun sensors
# ss_eshim_y = [-2.290, -2.377, -2.215] #Specify electronic shims (y-dir) for sun sensors
ss_eshim_x = [0.0,0.0,0.0] #Specify electronic shims (x-dir) for sun sensors
ss_eshim_y = [0.0,0.0,0.0] #Specify electronic shims (y-dir) for sun sensors
#Establish communication with IMU
#Define tracking/data collection parameters
track_time = params.track_time #20 #number of seconds to capture data/track
hz = params.hz #15 #data sample rate
cnt = 0
delay = 1.0 / hz
#Define directory to save data in
save_dir = params.save_dir #'C:/git_repos/GLO/Tutorials/tracking/'
#Obtain ephemeris data
ep = ephem.Observer()
#Establish communication with sun sensor/s - store in a list
ss = [
SS(inst_id=params.ss1_inst_id,
com_port=params.ss1_com_port,
baudrate=params.ss1_baud_rate),
SS(inst_id=params.ss2_inst_id,
com_port=params.ss2_com_port,
baudrate=params.ss2_baud_rate),
SS(inst_id=params.ss3_inst_id,
com_port=params.ss3_com_port,
baudrate=params.ss3_baud_rate)
]
#List of sun sensors to read data from (reduce number of sensors to increase sampling rate)
ss_read = [2]
#List of sun sensors to use for tracking
ss_track = []
if params.ss1_track:
hz = 15 #data sample rate
cnt = 0
delay = 1.0 / hz
#Define directory to save data in
save_dir = 'C:/git_repos/GLO/Tutorials/tracking/'
#Obtain ephemeris data
ep = ephem.Observer()
#Establish communication with IMU
#imu = IMU(com_port='COM7',baudrate=115200) #921600
#Establish communication with sun sensor/s - store in a list
ss = [
SS(inst_id=1, com_port='COM6', baudrate=115200),
SS(inst_id=2, com_port='COM8', baudrate=115200),
SS(inst_id=3, com_port='COM4', baudrate=115200)
]
#List of sun sensors to read data from
ss_read = [1, 2, 3]
#List of sun sensors to use for tracking
ss_track = [1, 2, 3]
# ss_eshim_x = [-1.763, -1.547, -1.578] #Specify electronic shims (x-dir) for sun sensors
# ss_eshim_y = [-2.290, -2.377, -2.215] #Specify electronic shims (y-dir) for sun sensors
ss_eshim_x = [0.0, 0.0,
0.0] #Specify electronic shims (x-dir) for sun sensors
ss_eshim_y = [0.0, 0.0,