def getY(self):
self.lock.acquire()
# Y1 = Y[0] #angle
Y1_angle = comedi.comedi_data_read(self.device ,0 ,0 ,0 ,0)
angle = comedi.comedi_to_phys(Y1_angle[1], self.range_info_input_1, self.maxdata_input_1)
Y2_position = comedi.comedi_data_read(self.device ,0 ,1 ,0 ,0)
position = comedi.comedi_to_phys(Y2_position[1], self.range_info_input_2, self.maxdata_input_2)
Y = [position, 0.0, angle]
self.lock.release()
return Y
def read(self, context):
device, subdevice, channel = _phys_channel(context)
chk, value = c.comedi_data_read(device, subdevice, channel,
0, 0) # range, aref
if chk < 0:
raise ComediError("Failed to read on %s" % context.node)
return value
def imagecapture_part(xb, yb, xe, ye, nx, ny, n):
dev = comedi.comedi_open("/dev/comedi0")
outsubdevice = 1
insubdevice = 0
xchannel = 0
ychannel = 1
inchannel = 0
analogref = comedi.AREF_GROUND
arange = 0
image = numpy.zeros((nx,ny), float)
for y in range(ny, 0, -1):
y = y-1
write_data = int( (float(y)/(ny-1) *(ye-yb) + yb ) * 65535)
msg = comedi.comedi_data_write(dev, outsubdevice, ychannel, arange, analogref, write_data)
for x in range(0, nx):
# print "( " + str(x) + ", " + str(y) + ")"
write_data = int( (float(x)/(nx-1) * (xe-xb) + xb ) * 65535)
msg = comedi.comedi_data_write(dev, outsubdevice, xchannel, arange, analogref, write_data)
pixel = 0.0
for i in range(0, n):
result = comedi.comedi_data_read(dev,insubdevice,inchannel,arange,analogref)
pixel = pixel + float(result[1])
pixel = pixel/n
# print pixel,
msg=result[0]
image[x][y] = pixel
print
comedi.comedi_close(dev)
return image
def get(self): data = c.comedi_data_read(self.device0,self.subdevice,self.channel,self.range_num, c.AREF_GROUND) self.position=(c.comedi_to_phys(data[1],self.range_ds,self.maxdata)*self.gain+self.offset) t=time.time() #t_=datetime.datetime.now() #t=(((((((t_.year*12)+t_.month)*30+t_.day)*24+t_.hour)*60+t_.minute)*60+t_.second)*1000000)+t_.microsecond return ((t-t0), self.position)
def read(self, context):
device, subdevice, channel = _phys_channel(context)
chk, value = c.comedi_data_read(device, subdevice, channel, 0,
0) # range, aref
if chk < 0:
raise ComediError("Failed to read on %s" % context.node)
return value
def getimage(nx, ny, n):
dev = comedi.comedi_open("/dev/comedi0")
outsubdevice = 1
insubdevice = 0
xchannel = 0
ychannel = 1
inchannel = 0
analogref = comedi.AREF_GROUND
arange = 0
image = numpy.zeros((nx,ny), float)
for y in range(0, ny):
write_data = int( (float(y)/(ny-1) ) * 65535)
msg = comedi.comedi_data_write(dev, outsubdevice, ychannel, arange, analogref, write_data)
for x in range(0, nx):
write_data = int( (float(x)/(nx-1) ) * 65535)
msg = comedi.comedi_data_write(dev, outsubdevice, xchannel, arange, analogref, write_data)
pixel = 0.0
for i in range(0, n):
result = comedi.comedi_data_read(dev,insubdevice,inchannel,arange,analogref)
pixel = pixel + float(result[1])
pixel = pixel/n
# print pixel,
msg=result[0]
image[x][y] = pixel
# print
comedi.comedi_close(dev)
return pixel
def get(self):
"""Read the signal"""
data = c.comedi_data_read(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND)
self.position = (
c.comedi_to_phys(data[1], self.range_ds, self.maxdata) * self.gain
+ self.offset)
t = time.time()
return (t, self.position)
def capture_all():
captured = [[None for _ in range(n_ranges)] for _ in CHANNELS]
for chan_i, ch in enumerate(CHANNELS):
for range_i, ran in enumerate(range(n_ranges)):
ret, data = c.comedi_data_read(dev, SUBDEVICE, ch, ran, REFERENCE)
phydata = c.comedi_to_phys(data, ranges[ran], maxdata)
captured[chan_i][range_i] = (data, phydata)
return captured
def get(self):
data = c.comedi_data_read(self.device0, self.subdevice, self.channel,
self.range_num, c.AREF_GROUND)
self.position = (
c.comedi_to_phys(data[1], self.range_ds, self.maxdata) * self.gain
+ self.offset)
t = time.time()
#t_=datetime.datetime.now()
#t=(((((((t_.year*12)+t_.month)*30+t_.day)*24+t_.hour)*60+t_.minute)*60+t_.second)*1000000)+t_.microsecond
return ((t - t0), self.position)
def getData(self,channel_number="all"): """Read the signal for desired channel""" if channel_number=="all": result=[] for channel in range(self.nchans): data = c.comedi_data_read(self.device,self.subdevice, self.channels[channel], self.range_num[channel], c.AREF_GROUND) self.position=(c.comedi_to_phys(data[1],self.range_ds[channel], self.maxdata[channel])*self.gain[channel]+self.offset[channel]) result.append(self.position) t=time.time() return (t, result) else: data = c.comedi_data_read(self.device,self.subdevice, self.channels[channel_number], self.range_num[channel_number], c.AREF_GROUND) self.position=(c.comedi_to_phys(data[1],self.range_ds[channel_number], self.maxdata[channel_number])*self.gain[channel_number]+self.offset[channel_number]) t=time.time() return (t, self.position)
def read_raw(self):
"""
Read directly from 6 channels of the sensor and convert from uint-16 to voltage with
no additional processing
"""
data_array = np.empty(self.num_channels)
for chan in range(self.num_channels):
#Read in data
rc, data_array[chan] = comedi.comedi_data_read(
self.dev, self.sub_device, chan, self.range, self.aref)
#Convert unsigned 16-bit ints to voltages
data_array[chan] = self.comedi_to_phys(data_array[chan])
#Multiply voltages by calibration matrix to get force/torque
data = -np.matmul(self.cal_matrix, data_array)
return data
def get_data(self, channel="all"):
"""To read the value on input_channels. If channel is specified, it will
only read and return these channels. 'all' (default) will read all opened
channels"""
if channel == 'all':
to_read = self.channels
else:
if not isinstance(channel, list):
channel = [channel]
to_read = [self.channels[self.channels_dict[i]] for i in channel]
data = [time()]
for chan in to_read:
data_read = c.comedi_data_read(self.device, self.subdevice,
chan['num'], chan['range_num'],
c.AREF_GROUND)
val = c.comedi_to_phys(data_read[1], chan['range_ds'],
chan['maxdata'])
data.append(val * chan['gain'] + chan['offset'])
return data
time.sleep(PRE_MOTION_TIME)
dev.set_vel_setpt(0)
dev.set_mode('velocity')
dev.start()
start_time = time.time()
t = 0
while t <= start_time + TOTAL_TIME_EXP:
gin = stdscr.getch()
if gin ==10:
stdscr.addstr("experiment ended")
stdscr.refresh()
time.sleep(1)
break
else:
rawAnalogIn = comedi.comedi_data_read(daq,subdev,chans[0],0,comedi.AREF_GROUND)
voltsInLMR = comedi.comedi_to_phys(rawAnalogIn[1], cr[0], maxdata[0])
rawAnalogIn = comedi.comedi_data_read(daq,subdev,chans[1],0,comedi.AREF_GROUND)
voltsInFreq = comedi.comedi_to_phys(rawAnalogIn[1], cr[1], maxdata[1])
vel = int(round(voltsInLMR*gain))
dev.set_dir_setpt(direction[(numpy.sign(vel)+1)/2], io_update=False)
dev.set_vel_setpt(abs(vel))
t = time.time()
pos = dev.get_pos()
fd.write('%f %d %d %f %f\n'%(t,vel,pos,voltsInLMR,voltsInFreq))
def read(self, comediObject):
ret, self.value = c.comedi_data_read(comediObject.device, comediObject.subdevice, self.channel, 0, 0)
self.voltage = c.comedi_to_phys(self.value, comediObject.channelRange, comediObject.maxdata)
def read(self, comediObject):
ret, self.value = c.comedi_data_read(comediObject.device,
comediObject.subdevice,
self.channel, 0, 0)
self.voltage = c.comedi_to_phys(self.value, comediObject.channelRange,
comediObject.maxdata)
rdata = 0 # read data
wdata = outputMaxdata/2
theRange = 0
aref = 0
# start the motor at zero speed:
c.comedi_data_write(comediDevice, outputSubdev, channel, theRange, aref, wdata)
while True:
startTime = time.time()
ret, rdata = c.comedi_data_read(comediDevice, inputSubdev, channel, theRange, aref)
voltage = c.comedi_to_phys(rdata, inputRange, inputMaxdata);
#print "Voltage: %f" % voltage
x1 = voltage
x2 = x1*voltage
x3 = x2*voltage
x4 = x3*voltage
x5 = x4*voltage
dist = -14.153*x5+110.18*x4-339.89*x3+538.13*x2-479.23*x1+243.35
#print "Distance: %f" % dist
if dist > 50:
wdata = outputMaxdata/2 + 1000
def get(self): """Read the signal""" data = c.comedi_data_read(self.device0,self.subdevice,self.channel,self.range_num, c.AREF_GROUND) self.position=(c.comedi_to_phys(data[1],self.range_ds,self.maxdata)*self.gain+self.offset) t=time.time() return (t, self.position)
nRanges = c.comedi_get_n_ranges(dev, subdev, channel)
print "Ranges: %d" % nRanges
crange = c.comedi_get_range(dev, subdev, channel, 0)
print "comedi_get_range: %s" % str(crange)
data = maxdata/2
rdata = 0
nChannels = 2
for i in range(100):
for chan in range(nChannels):
ret, rdata = c.comedi_data_read(dev, subdev, chan, 0, 0)
#print "Read value: %d" % rdata
voltage = c.comedi_to_phys(rdata, crange, maxdata);
#print voltage
x1 = voltage
x2 = x1*voltage
x3 = x2*voltage
x4 = x3*voltage
x5 = x4*voltage
dist = -14.153*x5+110.18*x4-339.89*x3+538.13*x2-479.23*x1+243.35
print "Chan %d Distance: %f" % (chan, dist)
print
