def SetBField(self):
     try:
         xyz.fine_field_cart(self.xValue, self.yValue, self.zValue, self.handle)
         print("Magnetic Field Set")
     except Error as err:
         xyz.closePorts(self.handle) # close the ports before raising the error.
         raise err
Exemplo n.º 2
0
def pid(setpoint, position, handle):
    """
    hello this is a doc string
    """

    kP = 0.004
    kD = 0.005
    kI = 0.4

    #kP = 0.019
    #kD = 0.007
    #kI = 0.4
    global prePos
    global integral
    global t0
    global initialOutput

    # calculate dt and save t0 for the next call.
    t1 = time.time()
    dt = t1 - t0
    t0 = t1

    offset = position - setpoint
    preOffset = prePos - setpoint

    # only set the integral if it is not saturated
    if (integral > -5 and offset > 0) or (integral < 5 and offset <= 0):
        integral += (offset * dt)

    derivative = (offset - preOffset) / dt

    prePos = position  # save the position for the next call.

    output = ((kP * offset) + (kI * integral) +
              (kD * derivative)) * -1e-7 + initialOutput

    # now set the field with the output
    #print('output = %14.11f\toffset = %14.11f\tdt = %14.11f\tintegral = %14.11f' % (output, offset, position, dt, integral))
    print(
        'offset = %14.11f\tintegral = %14.11f\tderivative = %14.11f\tdt = %14.11f'
        % (offset, integral, derivative, dt))
    xyz.fine_field_cart(xyz.xCoil.appliedMaxField, output, handle)

    return
Exemplo n.º 3
0
nominalFieldOffset = 41.5e-6
outputYField = nominalFieldOffset


try:
	while True:
		# querry the labjack
		t1 = time.time()
		sumSignal, leftMinusRight = xyz.ljm.eReadNames(handle, 2, ['AIN0', 'AIN1'])
		# run the control loop
		output = pid(setpoint, leftMinusRight)
		outputYField += output*1e-6

		print('output = %s' % output)
		# set the field
		xyz.fine_field_cart(xyz.xCoil.coilField, outputYField, xyz.zCoil.largeCoilField, handle)

		# save the (now) old leftMinusRight value for the next loop
		lastLeft = leftMinusRight
		dt = time.time() - t1 # keep track of the timestep for consistancy sake.
		print('time step = %s' % dt)
		if sumSignal < 3:
			raise exception('sum signal LOW!')

except Exception as e:
    # helpful to close the ports on except when debugging the code!
    xyz.closePorts(handle)
    print('closed all the ports')
    print(e) # print the exception
    raise
Exemplo n.º 4
0
handle = xyz.openPorts()

# configure the analog register
# Setup and call eWriteNames to configure the AIN on the LabJack.
numFrames = 3
names = ["AIN0_NEGATIVE_CH", "AIN0_RANGE", "AIN0_RESOLUTION_INDEX"]
aValues = [199, 0, 10]  # setup the analog register values for the labjack
xyz.ljm.eWriteNames(handle, numFrames, names, aValues)

# open ports
handle = xyz.openPorts()

try:
    while True:
        input('setLow')
        xyz.fine_field_cart(10e-6, 10e-6, handle)
        input('setHigh')
        xyz.fine_field_cart(20e-6, 20e-6, handle)

except KeyboardInterrupt:
    time.sleep(.5)
    print('\n')
    xyz.closePorts(handle)
    print('closed all the ports')
    #print('Keyboard Interrupt') # print the exception
    #raise
except Exception as e:
    # helpful to close the ports on except when debugging the code!
    time.sleep(.5)
    xyz.closePorts(handle)
    print('closed all the ports')
Exemplo n.º 5
0
import xyzFieldControl as xyz
import numpy as np
import time as time

# 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)
yField = 41.92e-6

try:

    while True:
        yField += float(input('offset yField by (nano Tesla) -->')) * 1e-9  #
        print('yField = %f (micro Tesla)' % (yField * 1e6))
        xyz.fine_field_cart(xyz.xCoil.appliedMaxField, yField,
                            xyz.zCoil.largeCoilField, handle)
    '''
    # try something a bit more simple
    xyz.field_cart(xyz.xCoil.appliedMaxField, xyz.yCoil.appliedMaxField, xyz.zCoil.largeCoilField)
    '''
    pass
except Exception as e:
    # helpful to close the ports on except when debugging the code!
    xyz.closePorts(handle)
    print('closed all the ports')
    print(e)  # print the exception
    raise
Exemplo n.º 6
0
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)
                #time.sleep(0.1)
                result = float(xyz.ljm.eReadName(handle,'AIN0'))
                if result > minSumSignal:
                    sumSignal = np.vstack((sumSignal, np.array([xField, yField])))

    '''
    # try something a bit more simple
    xyz.field_cart(xyz.xCoil.appliedMaxField, xyz.yCoil.appliedMaxField, xyz.zCoil.largeCoilField)
Exemplo n.º 7
0
setpoint = 0
lastSum = 0
lastLeft = 0
# make some dque objects for leftMinusRight and sumSignal?


try:
	while True:
		# querry the labjack
		time = time.time()
		sumSignal, leftMinusRight = xyz.ljm.eReadNames(handle, 2, ['AIN0', 'AIN1'])
		# run the control loop
		output = pid(setpoint, leftMinusRight, lastLeft, 1) + 

		# set the field
		xyz.fine_field_cart(output, xyz.yCoil.largeCoilField, xyz.zCoil.largeCoilField, handle)

		# save the (now) old leftMinusRight value for the next loop
		lastLeft = leftMinusRight
		dt = time.time() - time # keep track of the timestep for consistancy sake.
		print('times step = ' + dt)

except Exception as e:
    # helpful to close the ports on except when debugging the code!
    xyz.closePorts(handle)
    print('closed all the ports')
    print(e) # print the exception
    raise

# work in the optical zero space so we are always adusting perpenductular to the optical zero.
Exemplo n.º 8
0
zCurrent = (xyz.zCoil.largeCoilCurrent)
# xyz.zCoil.supply.current(439.5)
xField = 0
yField = 0
zField = 0

try:

    while True:
        xInField = float('0' + input('xField in micro Tesla -->')) * 1e-6
        yInField = float('0' + input('yField in micro Tesla -->')) * 1e-6
        #zInField = float('0'+input('zField in micro Tesla -->'))*1e-6

        if xInField != 0:
            xField = xInField
        if yInField != 0:
            yField = yInField
        zField = xyz.zCoil.getLargeCoilField(
        )  # keep the z at whatever it's set to

        print('setting field to:\n(xField, yField, zField)\n(%f, %f, %f)' %
              ((xField * 1e6), (yField * 1e6), (zField * 1e6)))
        xyz.fine_field_cart(xField, yField, zField, handle)

except Exception as e:
    # helpful to close the ports on except when debugging the code!
    xyz.closePorts(handle)
    print('closed all the ports')
    print(e)  # print the exception
    raise