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suservo: update 'technology preview' example [wip] 

Still with mostly undocumented and unstable API.
pull/972/merge
Robert Jördens 2018-04-27 12:04:17 +00:00
parent 307cd07b9d
commit fe9834bac4
1 changed files with 31 additions and 4 deletions
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35
artiq/examples/kasli_suservo/repository/suservo.py
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@ -6,23 +6,50 @@ class SUServo(EnvExperiment):
self.setattr_device("core")
self.setattr_device("led0")
self.setattr_device("suservo0")
self.setattr_device("suservo0_ch0")
for i in range(8):
self.setattr_device("suservo0_ch{}".format(i))
def run(self):
# self.led()
self.init()
def p(self, d):
for name, value in zip("ftw1 b1 pow cfg offset a1 ftw0 b0".split(), d):
print(name, hex(value))
@kernel
def init(self):
self.core.break_realtime()
self.core.reset()
self.suservo0.init()
self.suservo0.set_config(1)
delay(1*us)
self.suservo0.cpld0.set_att_mu(0, 255)
delay(1*us)
print(self.suservo0.get_status())
delay(3*ms)
self.suservo0.set_config(0)
delay(3*ms)
self.suservo0_ch0.set_profile_mu(
profile=0, ftw=0x12345667, adc=0, offset=0x10,
a1=-0x2000, b0=0x1ffff, b1=0, delay=0, pow=0xaa55)
self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0)
delay(10*ms)
self.suservo0.set_config(1)
delay(10*ms)
data = [0] * 8
self.suservo0_ch0.get_profile_mu(0, data)
self.p(data)
delay(10*ms)
print(self.suservo0.get_adc_mu(0))
delay(10*ms)
print(self.suservo0.get_adc_mu(1))
delay(10*ms)
print(self.suservo0_ch0.get_asf_mu(0))
delay(10*ms)
print(self.suservo0_ch0.get_asf_mu(0))
delay(10*ms)
print(self.suservo0.get_status())
@kernel