def main():
taskhandle = daqmx.TaskHandle()
daqmx.CreateTask("", taskhandle)
phys_chan = "cDAQ9188-16D66BBMod3/ctr2"
globalchan = "VecPulse"
#Timing parameters
rate = 200 # Pulse rate in Hz
initialdelay = 0
lowtime = 1 / rate / 2
hightime = 1 / rate / 2
# daqmx.CreateCOPulseChanTime(taskhandle, phys_chan, "", daqmx.Val_Seconds,
# daqmx.Val_Low, initialdelay, lowtime, hightime,
# False)
daqmx.AddGlobalChansToTask(taskhandle, globalchan)
daqmx.CfgImplicitTiming(taskhandle, daqmx.Val_FiniteSamps, 1)
# Set up communication with motion controller
simulator = False
# Parameters for plotting
plotting = False
plot_dynamic = False
if simulator == True:
hcomm = acsc.OpenCommDirect()
else:
hcomm = acsc.OpenCommEthernetTCP("10.0.0.100", 701)
axis = 5
buffno = 7
target = 0
timeout = 10
# Initialize arrays for storing time and position
t = np.array(0)
x = np.array(0)
if plotting == True and plot_dynamic == True:
plt.ioff()
fig = plt.figure()
ax = fig.add_subplot(111)
# plt.xlim(0, timeout)
# plt.ylim(0, target)
line, = ax.plot([], [])
fig.show()
if hcomm == acsc.INVALID:
print "Cannot connect to controller. Error:", acsc.GetLastError()
else:
# acsc.Enable(hcomm, axis)
rpos = acsc.GetRPosition(hcomm, axis)
x = rpos
t0 = time.time()
if simulator == True:
acsc.ToPoint(hcomm, 0, axis, target + 50000)
else:
acsc.RunBuffer(hcomm, buffno, None, None)
while True:
rpos = acsc.GetRPosition(hcomm, axis)
if rpos >= target: break
x = np.append(x, rpos)
t = np.append(t, time.time() - t0)
if plotting == True and plot_dynamic == True:
line.set_xdata(t)
line.set_ydata(x)
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
print "Axis is", acsc.GetAxisState(hcomm, axis) + '...'
if time.time() - t0 > timeout:
print "Motion timeout"
print "Final axis position:", rpos
break
time.sleep(0.001)
print "Target reached. Sending trigger pulse to", globalchan + "..."
daqmx.StartTask(taskhandle, fatalerror=False)
daqmx.WaitUntilTaskDone(taskhandle, timeout=10, fatalerror=False)
daqmx.ClearTask(taskhandle, fatalerror=False)
acsc.CloseComm(hcomm)
print "Triggered at", np.max(x)
if plotting == True:
if plot_dynamic == False:
plt.plot(t, x)
plt.show()
return t, x
import acsc
import time
axes = {'y': 0, 'z': 1, 'turbine': 4, 'tow': 5}
axis = 5
acc = 100
flags = 0
vel = 1
target = 2
dt = 0.5
hc = acsc.OpenCommDirect()
if hc == acsc.INVALID:
print("Cannot connect to controller, error", acsc.GetLastError())
else:
acsc.Enable(hc, axis)
acsc.SetVelocity(hc, axis, vel)
acsc.SetAcceleration(hc, axis, acc)
acsc.SetDeceleration(hc, axis, acc)
pvec = []
tvec = []
vvec = []
t = np.arange(0, 2 * np.pi, dt)
v = (np.sin(6 * t) + t) * np.hanning(len(t))
x = np.zeros(len(v))