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suservo: speed up example, interlock mem

This commit is contained in:
Robert Jördens 2018-04-27 17:17:17 +00:00
parent ae80bab180
commit 8812824fb2
1 changed files with 7 additions and 3 deletions
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10
artiq/examples/kasli_suservo/repository/suservo.py
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@ -38,7 +38,7 @@ class SUServo(EnvExperiment):
profile=0, adc=0, a1=-0x800, b0=0x1000, b1=0, delay=0) profile=0, adc=0, a1=-0x800, b0=0x1000, b1=0, delay=0)
delay(10*us) delay(10*us)
self.suservo0_ch0.set_dds_mu( self.suservo0_ch0.set_dds_mu(
profile=0, ftw=0x12345667, offset=0x1, pow=0xaa55) profile=0, ftw=0x12345667, offset=0x1000, pow=0xaa55)
# enable channel # enable channel
self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0) self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0)
# enable servo iterations # enable servo iterations
@ -64,11 +64,15 @@ class SUServo(EnvExperiment):
# repeatedly clear the IIR state/integrator # repeatedly clear the IIR state/integrator
# with the ADC yielding 0's and given the profile configuration, # with the ADC yielding 0's and given the profile configuration,
# this will lead to a slow ram up of the amplitude over about 200ms # this will lead to a slow ram up of the amplitude over about 40µs
# followed by saturation and repetition. # followed by saturation and repetition.
while True: while True:
self.suservo0_ch0.set(1, 0, 0)
delay(1*us)
self.suservo0_ch0.set_y_mu(0, 0) self.suservo0_ch0.set_y_mu(0, 0)
delay(.2*s) delay(1*us)
self.suservo0_ch0.set(1, 1, 0)
delay(60*us)
@kernel @kernel
def led(self): def led(self):