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https://github.com/m-labs/artiq.git
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Tpz fixes (#1178)
* flake8 * fix TPZ constructor after move to asyncio * Tcube fix docummentation in set_channel_enable_state
This commit is contained in:
Marius Weber
parent
a84c6c6d74
commit
029f9d983a
@ -207,7 +207,8 @@ class _Tcube:
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# derived classes must implement this
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raise NotImplementedError
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async def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
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async def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0,
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data=None):
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await self.send(Message(msgreq_id, param1, param2, data=data))
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msg = None
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while msg is None or msg.id not in wait_for_msgs:
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@ -218,7 +219,7 @@ class _Tcube:
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async def set_channel_enable_state(self, activated):
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"""Enable or Disable channel 1.
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:param activated: 1 to enable channel, 2 to disable it.
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:param activated: 1 to enable channel, 0 to disable it.
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"""
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if activated:
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@ -283,9 +284,13 @@ class _Tcube:
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class Tpz(_Tcube):
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"""Either :py:meth:`set_tpz_io_settings()<Tpz.set_tpz_io_settings>`
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or :py:meth:`get_tpz_io_settings()<Tpz.get_tpz_io_settings>` must
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be completed to finish initialising the driver.
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"""
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def __init__(self, serial_dev):
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_Tcube.__init__(self, serial_dev)
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self.voltage_limit = self.get_tpz_io_settings()[0]
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self.voltage_limit = None
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async def handle_message(self, msg):
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msg_id = msg.id
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@ -336,7 +341,7 @@ class Tpz(_Tcube):
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:rtype: int
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"""
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get_msg = await self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
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[MGMSG.PZ_GET_POSCONTROLMODE], 1)
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[MGMSG.PZ_GET_POSCONTROLMODE], 1)
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return get_msg.param2
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async def set_output_volts(self, voltage):
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@ -348,9 +353,8 @@ class Tpz(_Tcube):
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:param voltage: The output voltage applied to the piezo when operating
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in open loop mode. The voltage value must be in range
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[0; voltage_limit]. Voltage_limit being set by the
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:py:meth:`set_tpz_io_settings()
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method
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between the three values 75 V, 100 V and 150 V.
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:py:meth:`set_tpz_io_settings()<Tpz.set_tpz_io_settings>`
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method between the three values 75 V, 100 V and 150 V.
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"""
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if voltage < 0 or voltage > self.voltage_limit:
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raise ValueError("Voltage must be in range [0;{}]"
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@ -366,7 +370,7 @@ class Tpz(_Tcube):
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:rtype: float
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"""
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get_msg = await self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS,
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[MGMSG.PZ_GET_OUTPUTVOLTS], 1)
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[MGMSG.PZ_GET_OUTPUTVOLTS], 1)
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return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit/32767
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async def set_output_position(self, position_sw):
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@ -404,7 +408,7 @@ class Tpz(_Tcube):
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0x00 Software Only: Unit responds only to software inputs and the
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HV amp output is that set using the :py:meth:`set_output_volts()
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_output_volts>` method.
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<Tpz.set_output_volts>` method.
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0x01 External Signal: Unit sums the differential signal on the rear
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panel EXT IN(+) and EXT IN(-) connectors with the voltage set
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@ -426,13 +430,12 @@ class Tpz(_Tcube):
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amplifier circuit.
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:return: Value which selects the various analog sources, cf.
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:py:meth:`set_input_volts_source()
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_input_volts_source>` method
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docstring for meaning of bits.
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:py:meth:`set_input_volts_source()<Tpz.set_input_volts_source>`
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method docstring for meaning of bits.
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:rtype: int
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"""
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get_msg = await self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC,
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[MGMSG.PZ_GET_INPUTVOLTSSRC], 1)
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[MGMSG.PZ_GET_INPUTVOLTSSRC], 1)
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return st.unpack("<H", get_msg.data[2:])[0]
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async def set_pi_constants(self, prop_const, int_const):
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@ -459,7 +462,7 @@ class Tpz(_Tcube):
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:rtype: a 2 int elements tuple : (int, int)
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"""
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get_msg = await self.send_request(MGMSG.PZ_REQ_PICONSTS,
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[MGMSG.PZ_GET_PICONSTS], 1)
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[MGMSG.PZ_GET_PICONSTS], 1)
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return st.unpack("<HH", get_msg.data[2:])
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async def set_output_lut(self, lut_index, output):
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@ -488,7 +491,7 @@ class Tpz(_Tcube):
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applicable channel is specified by the Chan Ident parameter If only a
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sub set of the array is being used (as specified by the cyclelength
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parameter of the :py:meth:`set_output_lut_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_output_lut_parameters>`
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<Tpz.set_output_lut_parameters>`
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function), then only the first cyclelength values need to be set. In
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this manner, any arbitrary voltage waveform can be programmed into the
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LUT. Note. The LUT values are output by the system at a maximum
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@ -499,8 +502,8 @@ class Tpz(_Tcube):
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to 512 for TPZ).
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:param output: The voltage value to be set. Values are in the range
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[0; voltage_limit]. Voltage_limit being set with the
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:py:meth:`set_tpz_io_settings
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` method.
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:py:meth:`set_tpz_io_settings<Tpz.set_tpz_io_settings>`
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method.
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"""
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volt = round(output*32767/self.voltage_limit)
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payload = st.pack("<HHH", 1, lut_index, volt)
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@ -519,7 +522,8 @@ class Tpz(_Tcube):
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return index, output*self.voltage_limit/32767
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async def set_output_lut_parameters(self, mode, cycle_length, num_cycles,
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delay_time, precycle_rest, postcycle_rest):
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delay_time, precycle_rest,
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postcycle_rest):
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"""Set Waveform Generator Mode parameters.
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It is possible to use the controller in an arbitrary Waveform
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@ -680,8 +684,8 @@ class Tpz(_Tcube):
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:return: Returns a tuple whose elements are the voltage limit and the
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Hub analog input. Refer to :py:meth:`set_tpz_io_settings()
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<artiq.devices.thorlabs_tcube.driver.Tpz.set_tpz_io_settings>` for the
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meaning of those parameters.
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<Tpz.set_tpz_io_settings>` for
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the meaning of those parameters.
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:rtype: a 2 elements tuple (int, int)
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"""
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get_msg = await self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS,
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@ -760,8 +764,7 @@ class Tdc(_Tcube):
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:return: An 8 int tuple containing the following values: zero_wnd,
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vel1, wnd1, vel2, wnd2, vel3, wnd3, vel4. See
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:py:meth:`set_pot_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_pot_parameters>` for a
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:py:meth:`set_pot_parameters()<Tdc.set_pot_parameters>` for a
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description of each tuple element meaning.
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:rtype: An 8 int tuple
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"""
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@ -839,7 +842,7 @@ class Tdc(_Tcube):
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return st.unpack("<LL", get_msg.data[6:])
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async def set_jog_parameters(self, mode, step_size, acceleration,
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max_velocity, stop_mode):
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max_velocity, stop_mode):
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"""Set the velocity jog parameters.
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:param mode: 1 for continuous jogging, 2 for single step jogging.
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@ -883,7 +886,7 @@ class Tdc(_Tcube):
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:rtype: int
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"""
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get_msg = await self.send_request(MGMSG.MOT_REQ_GENMOVEPARAMS,
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[MGMSG.MOT_GET_GENMOVEPARAMS], 1)
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[MGMSG.MOT_GET_GENMOVEPARAMS], 1)
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return st.unpack("<l", get_msg.data[2:])[0]
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async def set_move_relative_parameters(self, relative_distance):
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@ -950,7 +953,8 @@ class Tdc(_Tcube):
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This call is blocking until device is homed or move is stopped.
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"""
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await self.send_request(MGMSG.MOT_MOVE_HOME,
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[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED], 1)
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[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED],
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1)
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async def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
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"""Set the limit switch parameters.
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@ -988,7 +992,7 @@ class Tdc(_Tcube):
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:return: A 2 int tuple containing the following in order: cw_hw_limit,
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ccw_hw_limit. Cf. description in
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:py:meth:`set_limit_switch_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_limit_switch_parameters>`
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<Tdc.set_limit_switch_parameters>`
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method.
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:rtype: A 2 int tuple.
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"""
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@ -1001,11 +1005,13 @@ class Tdc(_Tcube):
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The relative distance parameter used for the move will be the parameter
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sent previously by a :py:meth:`set_move_relative_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_relative_parameters>`
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<Tdc.set_move_relative_parameters>`
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command.
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"""
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await self.send_request(MGMSG.MOT_MOVE_RELATIVE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], 1)
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[MGMSG.MOT_MOVE_COMPLETED,
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MGMSG.MOT_MOVE_STOPPED],
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1)
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async def move_relative(self, relative_distance):
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"""Start a relative move
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@ -1015,7 +1021,8 @@ class Tdc(_Tcube):
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"""
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payload = st.pack("<Hl", 1, relative_distance)
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await self.send_request(MGMSG.MOT_MOVE_RELATIVE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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[MGMSG.MOT_MOVE_COMPLETED,
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MGMSG.MOT_MOVE_STOPPED],
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data=payload)
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async def move_absolute_memory(self):
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@ -1023,11 +1030,12 @@ class Tdc(_Tcube):
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The absolute move position parameter used for the move will be the
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parameter sent previously by a :py:meth:`set_move_absolute_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_absolute_parameters>`
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<Tdc.set_move_absolute_parameters>`
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command.
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"""
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await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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[MGMSG.MOT_MOVE_COMPLETED,
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MGMSG.MOT_MOVE_STOPPED],
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param1=1)
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async def move_absolute(self, absolute_distance):
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@ -1039,7 +1047,8 @@ class Tdc(_Tcube):
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"""
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payload = st.pack("<Hl", 1, absolute_distance)
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await self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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[MGMSG.MOT_MOVE_COMPLETED,
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MGMSG.MOT_MOVE_STOPPED],
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data=payload)
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async def move_jog(self, direction):
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@ -1048,7 +1057,8 @@ class Tdc(_Tcube):
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:param direction: The direction to jog. 1 is forward, 2 is backward.
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"""
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await self.send_request(MGMSG.MOT_MOVE_JOG,
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[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
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[MGMSG.MOT_MOVE_COMPLETED,
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MGMSG.MOT_MOVE_STOPPED],
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param1=1, param2=direction)
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async def move_velocity(self, direction):
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@ -1057,15 +1067,15 @@ class Tdc(_Tcube):
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When this method is called, the motor will move continuously in the
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specified direction using the velocity parameter set by the
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:py:meth:`set_move_relative_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_move_relative_parameters>`
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command until a :py:meth:`move_stop()
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<artiq.devices.thorlabs_tcube.driver.Tdc.move_stop>` command (either
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<Tdc.set_move_relative_parameters>`
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command until a :py:meth:`move_stop()<Tdc.move_stop>` command (either
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StopImmediate or StopProfiled) is called, or a limit switch is reached.
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:param direction: The direction to jog: 1 to move forward, 2 to move
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backward.
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"""
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await self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction))
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await self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1,
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param2=direction))
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async def move_stop(self, stop_mode):
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"""Stop any type of motor move.
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@ -1080,11 +1090,11 @@ class Tdc(_Tcube):
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if await self.is_moving():
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await self.send_request(MGMSG.MOT_MOVE_STOP,
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[MGMSG.MOT_MOVE_STOPPED,
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MGMSG.MOT_MOVE_COMPLETED],
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MGMSG.MOT_MOVE_COMPLETED],
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1, stop_mode)
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async def set_dc_pid_parameters(self, proportional, integral, differential,
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integral_limit, filter_control=0x0F):
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integral_limit, filter_control=0x0F):
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"""Set the position control loop parameters.
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:param proportional: The proportional gain, values in range [0; 32767].
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@ -1108,8 +1118,8 @@ class Tdc(_Tcube):
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:return: A 5 int tuple containing in this order:
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proportional gain, integral gain, differential gain, integral limit
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and filter control. Cf. :py:meth:`set_dc_pid_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_dc_pid_parameters>` for
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precise description.
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<Tdc.set_dc_pid_parameters>`
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for precise description.
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:rtype: A 5 int tuple.
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"""
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get_msg = await self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS,
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@ -1151,10 +1161,10 @@ class Tdc(_Tcube):
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:param mode: If set to 1, the buttons are used to jog the motor. Once
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set to this mode, the move parameters for the buttons are taken
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from the arguments of the :py:meth:`set_jog_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_jog_parameters>` method.
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If set to 2, each button can be programmed with a differente
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position value such that the controller will move the motor to that
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position when the specific button is pressed.
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<Tdc.set_jog_parameters>`
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method. If set to 2, each button can be programmed with a
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differente position value such that the controller will move the
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motor to that position when the specific button is pressed.
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:param position1: The position (in encoder counts) to which the motor
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will move when the top button is pressed.
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:param position2: The position (in encoder counts) to which the motor
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@ -1169,8 +1179,8 @@ class Tdc(_Tcube):
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:return: A 3 int tuple containing in this order: button mode,
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position1 and position2. Cf. :py:meth:`set_button_parameters()
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<artiq.devices.thorlabs_tcube.driver.Tdc.set_button_parameters>` for
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description.
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<Tdc.set_button_parameters>`
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for description.
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:rtype: A 3 int tuple
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"""
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get_msg = await self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS,
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@ -53,6 +53,8 @@ def main():
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dev = Tdc(args.device)
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elif product == "tpz001":
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dev = Tpz(args.device)
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loop = asyncio.get_event_loop()
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loop.run_until_complete(dev.get_tpz_io_settings())
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else:
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print("Invalid product string (-P/--product), "
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"choose from tdc001 or tpz001")
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