def festo_move(self, targetpos: int, speed: float, relative=0) -> None:
"""
Moves the FESTO stage to the "targetpos" with "speed"
!!! to use this function see the instructions in the FESTO section in __init__ !!!
1) writes "targetpos" and "speed" to the T7's data registers
2) the LUA script takes care of the movement
*) if the movement is to be relative to current position use 'relative' = 1
"""
# relative function
if relative == 1:
if self.currentpos + targetpos < 0:
print("NEEDLE->festo_move: Warning, currentpos is below 0")
elif self.currentpos + targetpos > 50:
print(
"NEEDLE->festo_move: Warning, currentpos is going past 50")
targetpos = self.currentpos + targetpos
ljm.eWriteAddress(self.FESTO_handle, self.targetpos_addr,
self.f_datatype, targetpos)
ljm.eWriteAddress(self.FESTO_handle, self.speed_addr, self.f_datatype,
speed)
self.currentpos = targetpos
def ping_DAC(self, address, v, time_delay=0):
"""
Sends a quick signal in the adress, used to communicate with the hydra harp
"""
dataType = self.FLOAT32
ljm.eWriteAddress(self.handle, address, dataType, v)
time.sleep(time_delay)
ljm.eWriteAddress(self.handle, address, dataType, 0)
def set_output(self, ID, v):
#Sets the output of the TICDAC to a value between +/- 10
#ID specifies which port the output is on
if np.abs(v) < 10:
dataType = self.FLOAT32
ljm.eWriteAddress(self.handle, ID, dataType, v)
else:
print("Error: voltage limit exceded (you idiot)")
"""
Demonstrates how to use the labjack.ljm.eWriteAddress (LJM_eWriteAddress)
function.
"""
from labjack import ljm
# Open first found LabJack
handle = ljm.open(ljm.constants.dtANY, ljm.constants.ctANY, "ANY")
#handle = ljm.openS("ANY", "ANY", "ANY")
info = ljm.getHandleInfo(handle)
print("Opened a LabJack with Device type: %i, Connection type: %i,\n" \
"Serial number: %i, IP address: %s, Port: %i,\nMax bytes per MB: %i" % \
(info[0], info[1], info[2], ljm.numberToIP(info[3]), info[4], info[5]))
# Setup and call eWriteAddress to write a value to the LabJack.
address = 1000 # DAC0
dataType = ljm.constants.FLOAT32
value = 2.5 # 2.5 V
ljm.eWriteAddress(handle, address, dataType, value)
print("\neWriteAddress: ")
print(" Address - %i, data type - %i, value : %f" % \
(address, dataType, value))
# Close handle
ljm.close(handle)
def write(self, value, address, dtype=ljm.constants.FLOAT32):
"""
To write data directly into a register
"""
ljm.eWriteAddress(self.handle, address, dtype, value)
def updateEStop(eStop):
ljm.eWriteAddress(handle, ESTOP_REG, 0, eStop)
def setHold(hold):
ljm.eWriteAddress(handle, HOLD_REG, 0, hold) #(USER_RAM2_U16)
def setHome():
ljm.eWriteAddress(handle, RE_ZERO_TARGET_REG, 0,
1) #signal to set new home (USER_RAM3_U16)
def moveTo(a):
ljm.eWriteAddress(handle, TARGET_POSITION_REG, 2,
a) #write the new position to USER_RAM0_I32
ljm.eWriteAddress(handle, ENABLE_REG, 0,
1) #Enable the drive (USER_RAM0_U16)
print(a)
def write(self,value,address,dtype=ljm.constants.FLOAT32): """ To write data directly into a register """ ljm.eWriteAddress(self.handle,address,dtype,value)
def __init__(self, comport_arduino, startsteps, sensitivity, invertx: bool,
run_test: str):
# Handle input parameters
self.port = comport_arduino
self.startcount = startsteps
self.init_pos = 0
self.sensitivity = float(sensitivity)
if self.sensitivity > 1:
self.sensitivity = 0.5
logger.info("Invalid sensitivity entered: new value = {}".format(
self.sensitivity))
self.invert_x_axis = invertx
self.test = run_test
# Setup Arduino and Stepper Motors
self.board = pyfirmata.Arduino(self.port)
time.sleep(1)
self.motors = []
self.default_motor_setup()
self.dirpull = {
0: [0, 1],
1: [0],
2: [0, 3],
3: [3],
4: [2, 3],
5: [2],
6: [1, 2],
7: [1],
}
self.dirpush = {
0: [2, 3],
1: [2],
2: [1, 2],
3: [1],
4: [0, 1],
5: [0],
6: [0, 3],
7: [3],
}
# motor vectors that code for the directions in the x-y space of the needle
self.motorvec = {
0: np.array([1, 1]),
1: np.array([-1, 1]),
2: np.array([-1, -1]),
3: np.array([1, -1]),
}
"""
FESTO section
!!! to use FESTO: first upload "FESTO_controlv3.lua" to the T7 with Kipling 3 software
then close the connection with Kipling 3 software
"""
# config
self.config_object = ConfigParser()
self.config_object.read('config.ini')
festo = self.config_object["FESTO"]
self.init_FESTO_pos = int(festo["initial_pos"])
self.init_FESTO_speed = float(festo["initial_speed"])
self.FESTO_stepsize = int(festo["step_size"])
self.AIN0addr = 0 # position (0-10V)
self.DAC0addr = 1000 # speed ref.signal (2.5V)
self.DAC1addr = 1002 # speed out signal (-2.5 - 2.5V)
self.initialpos_addr = 46000
self.targetpos_addr = 46002
self.speed_addr = 46004
self.enable_addr = 46008
self.f_datatype = ljm.constants.FLOAT32
self.i_datatype = ljm.constants.UINT16
self.offsetV = 2.5 # (offsetV+2.5V on DAC1 = 25 mm/s)
self.offV = 0.0299544557929039 # low voltage that T7 can certainly output
self.maxpos = 50 # mm
self.minpos = 3 # mm
self.currentpos = self.init_FESTO_pos
try:
FESTO_handle = ljm.openS("ANY", "USB", "ANY")
except ljm.LJMError as error:
FESTO_handle = None
logger.error(
"No FESTO_handle: thus not able to use the FESTO functions \n Error presented: "
+ str(error))
if FESTO_handle is not None:
self.FESTO_handle = FESTO_handle
# Set initial positions (keep target pos at init_FESTO_pos at the start)
ljm.eWriteAddress(self.FESTO_handle, self.initialpos_addr,
self.f_datatype, self.init_FESTO_pos)
ljm.eWriteAddress(self.FESTO_handle, self.targetpos_addr,
self.f_datatype, self.init_FESTO_pos)
# Set speed
ljm.eWriteAddress(self.FESTO_handle, self.speed_addr,
self.f_datatype, self.init_FESTO_speed)
logger.success(
"FESTO connected, handle is available, init is set, current position ="
+ str(
ljm.eReadAddress(self.FESTO_handle, self.AIN0addr,
self.f_datatype)))
time.sleep(0.3)
# Enable init LUA program
ljm.eWriteAddress(self.FESTO_handle, self.enable_addr,
self.f_datatype, 1)
logger.success("FESTO moving to initial position")
else:
logger.error(
"Something went wrong when creating a FESTO Handle. Check if all adresses are correct in needle.py"
)
self.FESTO_handle = None