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artiq/artiq/devices/thorlabs_tcube/driver.py

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from enum import Enum
import logging
import struct as st
import serial
logger = logging.getLogger(__name__)
class MGMSG(Enum):
HW_DISCONNECT = 0x0002
HW_REQ_INFO = 0x0005
HW_GET_INFO = 0x0006
HW_START_UPDATEMSGS = 0x0011
HW_STOP_UPDATEMSGS = 0x0012
HUB_REQ_BAYUSED = 0x0065
HUB_GET_BAYUSED = 0x0066
HW_RESPONSE = 0x0080
HW_RICHRESPONSE = 0x0081
MOD_SET_CHANENABLESTATE = 0x0210
MOD_REQ_CHANENABLESTATE = 0x0211
MOD_GET_CHANENABLESTATE = 0x0212
MOD_IDENTIFY = 0x0223
MOT_SET_ENCCOUNTER = 0x0409
MOT_REQ_ENCCOUNTER = 0x040A
MOT_GET_ENCCOUNTER = 0x040B
MOT_SET_POSCOUNTER = 0x0410
MOT_REQ_POSCOUNTER = 0x0411
MOT_GET_POSCOUNTER = 0x0412
MOT_SET_VELPARAMS = 0x0413
MOT_REQ_VELPARAMS = 0x0414
MOT_GET_VELPARAMS = 0x0415
MOT_SET_JOGPARAMS = 0x0416
MOT_REQ_JOGPARAMS = 0x0417
MOT_GET_JOGPARAMS = 0x0418
MOT_SET_LIMSWITCHPARAMS = 0x0423
MOT_REQ_LIMSWITCHPARAMS = 0x0424
MOT_GET_LIMSWITCHPARAMS = 0x0425
MOT_REQ_STATUSBITS = 0x0429
MOT_GET_STATUSBITS = 0x042A
MOT_SET_GENMOVEPARAMS = 0x043A
MOT_REQ_GENMOVEPARAMS = 0x043B
MOT_GET_GENMOVEPARAMS = 0x043C
MOT_SET_HOMEPARAMS = 0x0440
MOT_REQ_HOMEPARAMS = 0x0441
MOT_GET_HOMEPARAMS = 0x0442
MOT_MOVE_HOME = 0x0443
MOT_MOVE_HOMED = 0x0444
MOT_SET_MOVERELPARAMS = 0x0445
MOT_REQ_MOVERELPARAMS = 0x0446
MOT_GET_MOVERELPARAMS = 0x0447
MOT_MOVE_RELATIVE = 0x0448
MOT_SET_MOVEABSPARAMS = 0x0450
MOT_REQ_MOVEABSPARAMS = 0x0451
MOT_GET_MOVEABSPARAMS = 0x0452
MOT_MOVE_ABSOLUTE = 0x0453
MOT_MOVE_VELOCITY = 0x0457
MOT_MOVE_COMPLETED = 0x0464
MOT_MOVE_STOP = 0x0465
MOT_MOVE_STOPPED = 0x0466
MOT_MOVE_JOG = 0x046A
MOT_SUSPEND_ENDOFMOVEMSGS = 0x046B
MOT_RESUME_ENDOFMOVEMSGS = 0x046C
MOT_REQ_DCSTATUSUPDATE = 0x0490
MOT_GET_DCSTATUSUPDATE = 0x0491
MOT_ACK_DCSTATUSUPDATE = 0x0492
MOT_SET_DCPIDPARAMS = 0x04A0
MOT_REQ_DCPIDPARAMS = 0x04A1
MOT_GET_DCPIDPARAMS = 0x04A2
MOT_SET_POTPARAMS = 0x04B0
MOT_REQ_POTPARAMS = 0x04B1
MOT_GET_POTPARAMS = 0x04B2
MOT_SET_AVMODES = 0x04B3
MOT_REQ_AVMODES = 0x04B4
MOT_GET_AVMODES = 0x04B5
MOT_SET_BUTTONPARAMS = 0x04B6
MOT_REQ_BUTTONPARAMS = 0x04B7
MOT_GET_BUTTONPARAMS = 0x04B8
MOT_SET_EEPROMPARAMS = 0x04B9
PZ_SET_POSCONTROLMODE = 0x0640
PZ_REQ_POSCONTROLMODE = 0x0641
PZ_GET_POSCONTROLMODE = 0x0642
PZ_SET_OUTPUTVOLTS = 0x0643
PZ_REQ_OUTPUTVOLTS = 0x0644
PZ_GET_OUTPUTVOLTS = 0x0645
PZ_SET_OUTPUTPOS = 0x0646
PZ_REQ_OUTPUTPOS = 0x0647
PZ_GET_OUTPUTPOS = 0x0648
PZ_SET_INPUTVOLTSSRC = 0x0652
PZ_REQ_INPUTVOLTSSRC = 0x0653
PZ_GET_INPUTVOLTSSRC = 0x0654
PZ_SET_PICONSTS = 0x0655
PZ_REQ_PICONSTS = 0x0656
PZ_GET_PICONSTS = 0x0657
PZ_GET_PZSTATUSUPDATE = 0x0661
PZ_SET_OUTPUTLUT = 0x0700
PZ_REQ_OUTPUTLUT = 0x0701
PZ_GET_OUTPUTLUT = 0x0702
PZ_SET_OUTPUTLUTPARAMS = 0x0703
PZ_REQ_OUTPUTLUTPARAMS = 0x0704
PZ_GET_OUTPUTLUTPARAMS = 0x0705
PZ_START_LUTOUTPUT = 0x0706
PZ_STOP_LUTOUTPUT = 0x0707
PZ_SET_EEPROMPARAMS = 0x07D0
PZ_SET_TPZ_DISPSETTINGS = 0x07D1
PZ_REQ_TPZ_DISPSETTINGS = 0x07D2
PZ_GET_TPZ_DISPSETTINGS = 0x07D3
PZ_SET_TPZ_IOSETTINGS = 0x07D4
PZ_REQ_TPZ_IOSETTINGS = 0x07D5
PZ_GET_TPZ_IOSETTINGS = 0x07D6
class Direction:
def __init__(self, direction):
if direction not in (1, 2):
raise ValueError("Direction must be either 1 or 2")
self.direction = direction
def __str__(self):
if self.direction == 1:
return "forward"
else:
return "backward"
class MsgError(Exception):
pass
class Message:
def __init__(self, id, param1=0, param2=0, dest=0x50, src=0x01,
data=None):
if data is not None:
dest |= 0x80
self.id = id
self.param1 = param1
self.param2 = param2
self.dest = dest
self.src = src
self.data = data
def __str__(self):
return ("<Message {} p1=0x{:02x} p2=0x{:02x} "
"dest=0x{:02x} src=0x{:02x}>".format(
self.id, self.param1, self.param2,
self.dest, self.src))
@staticmethod
def unpack(data):
id, param1, param2, dest, src = st.unpack("<HBBBB", data[:6])
data = data[6:]
if dest & 0x80:
if data and len(data) != param1 | (param2 << 8):
raise ValueError("If data are provided, param1 and param2"
" should contain the data length")
else:
data = None
return Message(MGMSG(id), param1, param2, dest, src, data)
def pack(self):
if self.has_data:
return st.pack("<HHBB", self.id.value, len(self.data),
self.dest | 0x80, self.src) + self.data
else:
return st.pack("<HBBBB", self.id.value,
self.param1, self.param2, self.dest, self.src)
def send(self, port):
logger.debug("sending: %s", self)
port.write(self.pack())
@classmethod
def recv(cls, port):
header = port.read(6)
logger.debug("received header: %s", header)
data = b""
if header[4] & 0x80:
(length, ) = st.unpack("<H", header[2:4])
data = port.read(length)
r = cls.unpack(header + data)
logger.debug("receiving: %s", r)
return r
@property
def has_data(self):
return self.dest & 0x80
@property
def data_size(self):
if self.has_data:
return self.param1 | (self.param2 << 8)
else:
raise ValueError
class _Tcube:
def __init__(self, serial_dev):
self.port = serial.serial_for_url(serial_dev, baudrate=115200,
rtscts=True)
self.status_report_counter = 0
self.port.flush()
logger.debug("baud rate set to 115200")
def close(self):
"""Close the device."""
self.port.close()
def send(self, msg):
msg.send(self.port)
def handle_message(self, msg):
# derived classes must implement this
raise NotImplementedError
def send_request(self, msgreq_id, wait_for_msgs, param1=0, param2=0, data=None):
Message(msgreq_id, param1, param2, data=data).send(self.port)
msg = None
while msg is None or msg.id not in wait_for_msgs:
msg = Message.recv(self.port)
self.handle_message(msg)
return msg
def set_channel_enable_state(self, activated):
"""Enable or Disable channel 1.
:param activated: 1 to enable channel, 2 to disable it.
"""
if activated:
activated = 1
else:
activated = 2
self.send(Message(MGMSG.MOD_SET_CHANENABLESTATE, param1=1,
param2=activated))
def get_channel_enable_state(self):
get_msg = self.send_request(MGMSG.MOD_REQ_CHANENABLESTATE,
[MGMSG.MOD_GET_CHANENABLESTATE], 1)
self.chan_enabled = get_msg.param2
if self.chan_enabled == 1:
self.chan_enabled = True
elif self.chan_enabled == 2:
self.chan_enabled = False
else:
raise MsgError("Channel state response is invalid: neither "
"1 nor 2: {}".format(self.chan_enabled))
return self.chan_enabled
def module_identify(self):
"""Ask device to flash its front panel led.
Instruct hardware unit to identify itself by flashing its front panel
led.
"""
self.send(Message(MGMSG.MOD_IDENTIFY))
def hardware_start_update_messages(self, update_rate):
"""Start status updates from the embedded controller.
Status update messages contain information about the position and
status of the controller.
:param update_rate: Rate at which you will receive status updates
"""
self.send(Message(MGMSG.HW_START_UPDATEMSGS, param1=update_rate))
def hardware_stop_update_messages(self):
"""Stop status updates from the controller."""
self.send(Message(MGMSG.HW_STOP_UPDATEMSGS))
def hardware_request_information(self):
return self.send_request(MGMSG.HW_REQ_INFO,
[MGMSG.HW_GET_INFO])
def is_channel_enabled(self):
return self.chan_enabled
def ping(self):
try:
self.hardware_request_information()
except:
return False
return True
class Tpz(_Tcube):
def __init__(self, serial_dev):
_Tcube.__init__(self, serial_dev)
self.voltage_limit = self.get_tpz_io_settings()[0]
def handle_message(self, msg):
msg_id = msg.id
data = msg.data
if msg_id == MGMSG.HW_DISCONNECT:
raise MsgError("Error: Please disconnect the TPZ001")
elif msg_id == MGMSG.HW_RESPONSE:
raise MsgError("Hardware error, please disconnect "
"and reconnect the TPZ001")
elif msg_id == MGMSG.HW_RICHRESPONSE:
(code, ) = st.unpack("<H", data[2:4])
raise MsgError("Hardware error {}: {}"
.format(code,
data[4:].decode(encoding="ascii")))
def set_position_control_mode(self, control_mode):
"""Set the control loop mode.
When in closed-loop mode, position is maintained by a feedback signal
from the piezo actuator. This is only possible when using actuators
equipped with position sensing.
:param control_mode: 0x01 for Open Loop (no feedback).
0x02 for Closed Loop (feedback employed).
0x03 for Open Loop Smooth.
0x04 for Closed Loop Smooth.
"""
self.send(Message(MGMSG.PZ_SET_POSCONTROLMODE, param1=1,
param2=control_mode))
def get_position_control_mode(self):
"""Get the control loop mode.
:return: Returns the control mode.
0x01 for Open Loop (no feedback).
0x02 for Closed Loop (feedback employed).
0x03 for Open Loop Smooth.
0x04 for Closed Loop Smooth.
:rtype: int
"""
get_msg = self.send_request(MGMSG.PZ_REQ_POSCONTROLMODE,
[MGMSG.PZ_GET_POSCONTROLMODE], 1)
return get_msg.param2
def set_output_volts(self, voltage):
"""Set output voltage applied to the piezo actuator.
This command is only applicable in Open Loop mode. If called when in
Closed Loop mode it is ignored.
:param voltage: The output voltage applied to the piezo when operating
in open loop mode. The voltage value must be in range
[0; voltage_limit]. Voltage_limit being set by the
:py:meth:`set_tpz_io_settings()
<artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` method
between the three values 75 V, 100 V and 150 V.
"""
if voltage < 0 or voltage > self.voltage_limit:
raise ValueError("Voltage must be in range [0;{}]"
.format(self.voltage_limit))
volt = int(voltage*32767/self.voltage_limit)
payload = st.pack("<HH", 1, volt)
self.send(Message(MGMSG.PZ_SET_OUTPUTVOLTS, data=payload))
def get_output_volts(self):
"""Get the output voltage applied to the piezo actuator.
:return: The output voltage.
:rtype: float
"""
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTVOLTS,
[MGMSG.PZ_GET_OUTPUTVOLTS], 1)
return st.unpack("<H", get_msg.data[2:])[0]*self.voltage_limit/32767
def set_output_position(self, position_sw):
"""Set output position of the piezo actuator.
This command is only applicable in Closed Loop mode. If called when in
Open Loop mode, it is ignored. The position of the actuator is relative
to the datum set for the arrangement using the ZeroPosition method.
:param position_sw: The output position of the piezo relative to the
zero position. The voltage is set in the range [0; 32767] or
[0; 65535] depending on the unit. This corresponds to 0 to 100% of
the maximum piezo extension.
"""
payload = st.pack("<HH", 1, position_sw)
self.send(Message(MGMSG.PZ_SET_OUTPUTPOS, data=payload))
def get_output_position(self):
"""Get output position of piezo actuator.
:return: The output position of the piezo relative to the zero
position.
:rtype: int
"""
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTPOS,
[MGMSG.PZ_GET_OUTPUTPOS], 1)
return st.unpack("<H", get_msg.data[2:])[0]
def set_input_volts_source(self, volt_src):
"""Set the input source(s) which controls the output from the HV
amplifier circuit (i.e. the drive to the piezo actuators).
:param volt_src: The following values are entered into the VoltSrc
parameter to select the various analog sources:
0x00 Software Only: Unit responds only to software inputs and the
HV amp output is that set using the :py:meth:`set_output_volts()
<artiq.devices.thorlabs.driver.Tpz.set_output_volts>` method.
0x01 External Signal: Unit sums the differential signal on the rear
panel EXT IN(+) and EXT IN(-) connectors with the voltage set
using the set_outputvolts method.
0x02 Potentiometer: The HV amp output is controlled by a
potentiometer input (either on the control panel, or connected
to the rear panel User I/O D-type connector) summed with the
voltage set using the set_outputvolts method.
The values can be bitwise or'ed to sum the software source with
either or both of the other source options.
"""
payload = st.pack("<HH", 1, volt_src)
self.send(Message(MGMSG.PZ_SET_INPUTVOLTSSRC, data=payload))
def get_input_volts_source(self):
"""Get the input source(s) which controls the output from the HV
amplifier circuit.
:return: Value which selects the various analog sources, cf.
:py:meth:`set_input_volts_source()
<artiq.devices.thorlabs.driver.Tpz.set_input_volts_source>` method
docstring for meaning of bits.
:rtype: int
"""
get_msg = self.send_request(MGMSG.PZ_REQ_INPUTVOLTSSRC,
[MGMSG.PZ_GET_INPUTVOLTSSRC], 1)
return st.unpack("<H", get_msg.data[2:])[0]
def set_pi_constants(self, prop_const, int_const):
"""Set the proportional and integration feedback loop constants.
These parameters determine the response characteristics when operating
in closed loop mode.
The processors within the controller compare the required (demanded)
position with the actual position to create an error, which is then
passed through a digital PI-type filter. The filtered value is used to
develop an output voltage to drive the pizeo.
:param prop_const: Value of the proportional term in range [0; 255].
:param int_const: Value of the integral term in range [0; 255].
"""
payload = st.pack("<HHH", 1, prop_const, int_const)
self.send(Message(MGMSG.PZ_SET_PICONSTS, data=payload))
def get_pi_constants(self):
"""Get the proportional and integration feedback loop constants.
:return: Returns a tuple whose first element is the proportional
term and the second element is the integral term.
:rtype: a 2 int elements tuple : (int, int)
"""
get_msg = self.send_request(MGMSG.PZ_REQ_PICONSTS,
[MGMSG.PZ_GET_PICONSTS], 1)
return st.unpack("<HH", get_msg.data[2:])
def set_output_lut(self, lut_index, output):
"""Set the ouput LUT values for WGM (Waveform Generator Mode).
It is possible to use the controller in an arbitrary Waveform
Generator Mode (WGM). Rather than the unit outputting an adjustable
but static voltage or position, the WGM allows the user to define a
voltage or position sequence to be output, either periodically or a
fixed number of times, with a selectable interval between adjacent
samples.
This waveform generation function is particularly useful for
operations such as scanning over a particular area, or in any other
application that requires a predefined movement sequence. The waveform
is stored as values in an array, with a maximum of 513 samples.
The samples can have the meaning of voltage or position; if
open loop operation is specified when the samples are output, then
their meaning is voltage and vice versa, if the channel is set to
closed loop operation, the samples are interpreted as position values.
If the waveform to be output requires less than 513 samples, it is
sufficient to download the desired number of samples. This function is
used to load the LUT array with the required output waveform. The
applicable channel is specified by the Chan Ident parameter If only a
sub set of the array is being used (as specified by the cyclelength
parameter of the :py:meth:`set_output_lut_parameters()
<artiq.devices.thorlabs.driver.Tpz.set_output_lut_parameters>`
function), then only the first cyclelength values need to be set. In
this manner, any arbitrary voltage waveform can be programmed into the
LUT. Note. The LUT values are output by the system at a maximum
bandwidth of 7 KHz, e.g. 500 LUT values will take approximately 71 ms
to be clocked out.
:param lut_index: The position in the array of the value to be set (0
to 512 for TPZ).
:param output: The voltage value to be set. Values are in the range
[0; voltage_limit]. Voltage_limit being set with the
:py:meth:`set_tpz_io_settings
<artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` method.
"""
volt = round(output*32767/self.voltage_limit)
payload = st.pack("<HHH", 1, lut_index, volt)
self.send(Message(MGMSG.PZ_SET_OUTPUTLUT, data=payload))
def get_output_lut(self):
"""Get the ouput LUT values for WGM (Waveform Generator Mode).
:return: a tuple whose first element is the lut index and the second is
the voltage output value.
:rtype: a 2 elements tuple (int, float)
"""
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUT,
[MGMSG.PZ_GET_OUTPUTLUT], 1)
index, output = st.unpack("<Hh", get_msg.data[2:])
return index, output*self.voltage_limit/32767
def set_output_lut_parameters(self, mode, cycle_length, num_cycles,
delay_time, precycle_rest, postcycle_rest):
"""Set Waveform Generator Mode parameters.
It is possible to use the controller in an arbitrary Waveform
Generator Mode (WGM). Rather than the unit outputting an adjustable
but static voltage or position, the WGM allows the user to define a
voltage or position sequence to be output, either periodically or a
fixed number of times, with a selectable interval between adjacent
samples.
This waveform generation function is particularly useful for operations
such as scanning over a particular area, or in any other application
that requires a predefined movement sequence. This function is used to
set parameters which control the output of the LUT array.
:param mode: Specifies the ouput mode of the LUT waveform as follows:
0x01 - Output Continuous - The waveform is output continuously
(i.e. until a StopOPLut command is received.)
0x02 - Output Fixed - A fixed number of waveform cycles are output
(as specified in the num_cycles parameter).
:param cycle_length: Specifies how many samples will be output in each
cycle of the waveform. It can be set in the range [0; 512]
(for TPZ). It must be less than or equal to the total number of
samples that were loaded.
:param num_cycles: Specifies the number of cycles (1 to 2147483648) to
be output when the Mode parameter is set to fixed. If Mode is set
to Continuous, the num_cycles parameter is ignored. In both cases,
the waveform is not output until a StartOPLUT command is received.
:param delay_time: Specifies the delay (in sample intervals) that the
system waits after setting each LUT output value. By default, the
time the system takes to output LUT values (sampling interval) is
set at the maximum bandwidth possible, i.e. 4 kHz (0.25 ms) for TPZ
units. The delay_time parameter specifies the time interval between
neighbouring samples, i.e. for how long the sample will remain at
its present value. To increase the time between samples, set the
delay_time parameter to the required additional delay (1 to
2147483648 sample intervals). In this way, the user can stretch or
shrink the waveform without affecting its overall shape.
:param precycle_rest: In some applications, during waveform generation
the first and the last samples may need to be handled differently
from the rest of the waveform. For example, in a positioning system
it may be necessary to start the movement by staying at a certain
position for a specified length of time, then perform a movement,
then remain at the last position for another specified length of
time. This is the purpose of precycle_rest and postcycle_rest
parameters, i.e. they specify the length of time that the first and
last samples are output for, independently of the delay_time
parameter. The precycle_rest parameter allows a delay time to be
set before the system starts to clock out the LUT values. The delay
can be set between 0 and 2147483648 sample intervals. The system
then outputs the first value in the LUT until the PreCycleRest time
has expired.
:param postcycle_rest: In a similar way to precycle_rest, the
postcycle_rest parameter specifies the delay imposed by the system
after a LUT table has been output. The delay can be set between 0
and 2147483648 sample intervals. The system then outputs the last
value in the cycle until the postcycle_rest time has expired.
"""
# triggering is not supported by the TPZ device
payload = st.pack("<HHHLLLLHLH", 1, mode, cycle_length, num_cycles,
delay_time, precycle_rest, postcycle_rest,
0, 0, 0)
self.send(Message(MGMSG.PZ_SET_OUTPUTLUTPARAMS, data=payload))
def get_output_lut_parameters(self):
"""Get Waveform Generator Mode parameters.
:return: a 6 int elements tuple whose members are (mode, cycle_length,
num_cycles, delay_time, precycle_rest, postcycle_rest).
:rtype: 6 int elements tuple
"""
get_msg = self.send_request(MGMSG.PZ_REQ_OUTPUTLUTPARAMS,
[MGMSG.PZ_GET_OUTPUTLUTPARAMS], 1)
return st.unpack("<HHLLLL", get_msg.data[2:22])
def start_lut_output(self):
"""Start the voltage waveform (LUT) outputs."""
self.send(Message(MGMSG.PZ_START_LUTOUTPUT, param1=1))
def stop_lut_output(self):
"""Stop the voltage waveform (LUT) outputs."""
self.send(Message(MGMSG.PZ_STOP_LUTOUTPUT, param1=1))
def set_eeprom_parameters(self, msg_id):
"""Save the parameter settings for the specified message.
:param msg_id: The message ID of the message containing the parameters
to be saved.
"""
payload = st.pack("<HH", 1, msg_id)
self.send(Message(MGMSG.PZ_SET_EEPROMPARAMS, data=payload))
def set_tpz_display_settings(self, intensity):
"""Set the intensity of the LED display on the front of the TPZ unit.
:param intensity: The intensity is set as a value from 0 (Off) to 255
(brightest).
"""
payload = st.pack("<H", intensity)
self.send(Message(MGMSG.PZ_SET_TPZ_DISPSETTINGS, data=payload))
def get_tpz_display_settings(self):
"""Get the intensity of the LED display on the front of the TPZ unit.
:return: The intensity as a value from 0 (Off) to 255 (brightest).
:rtype: int
"""
get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_DISPSETTINGS,
[MGMSG.PZ_GET_TPZ_DISPSETTINGS], 1)
return st.unpack("<H", get_msg.data)[0]
def set_tpz_io_settings(self, voltage_limit, hub_analog_input):
"""Set various I/O settings."
:param voltage_limit: The piezo actuator connected to the T-Cube has a
specific maximum operating voltage. This parameter sets the maximum
output to the value among the following ones:
75 V limit.
100 V limit.
150 V limit.
:param hub_analog_input: When the T-Cube piezo driver unit is used in
conjunction with the T-Cube Strain Gauge Reader (TSG001) on the
T-Cube Controller Hub (TCH001), a feedback signal can be passed
from the Strain Gauge Reader to the Piezo unit.
High precision closed loop operation is then possible using the
complete range of feedback-equipped piezo actuators.
This parameter is routed to the Piezo unit as follows:
0x01: the feedback signals run through all T-Cube bays.
0x02: the feedback signals run between adjacent pairs of T-Cube
bays (i.e. 1&2, 3&4, 5&6). This setting is useful when several
pairs of Strain Gauge/Piezo Driver cubes are being used on the same
hub.
0x03: the feedback signals run through the read panel SMA
connectors.
"""
self.voltage_limit = voltage_limit
if self.voltage_limit == 75:
voltage_limit = 1
elif self.voltage_limit == 100:
voltage_limit = 2
elif self.voltage_limit == 150:
voltage_limit = 3
else:
raise ValueError("voltage_limit must be 75 V, 100 V or 150 V")
payload = st.pack("<HHHHH", 1, voltage_limit, hub_analog_input, 0, 0)
self.send(Message(MGMSG.PZ_SET_TPZ_IOSETTINGS, data=payload))
def get_tpz_io_settings(self):
"""Get various I/O settings.
:return: Returns a tuple whose elements are the voltage limit and the
Hub analog input. Refer to :py:meth:`set_tpz_io_settings()
<artiq.devices.thorlabs.driver.Tpz.set_tpz_io_settings>` for the
meaning of those parameters.
:rtype: a 2 elements tuple (int, int)
"""
get_msg = self.send_request(MGMSG.PZ_REQ_TPZ_IOSETTINGS,
[MGMSG.PZ_GET_TPZ_IOSETTINGS], 1)
voltage_limit, hub_analog_input = st.unpack("<HH", get_msg.data[2:6])
if voltage_limit == 1:
voltage_limit = 75
elif voltage_limit == 2:
voltage_limit = 100
elif voltage_limit == 3:
voltage_limit = 150
else:
raise ValueError("Voltage limit should be in range [1; 3]")
self.voltage_limit = voltage_limit
return voltage_limit, hub_analog_input
class Tdc(_Tcube):
def send_status_ack(self):
self.send(Message(MGMSG.MOT_ACK_DCSTATUSUPDATE))
def handle_message(self, msg):
msg_id = msg.id
data = msg.data
if msg_id == MGMSG.HW_DISCONNECT:
raise MsgError("Error: Please disconnect the TDC001")
elif msg_id == MGMSG.HW_RESPONSE:
raise MsgError("Hardware error, please disconnect "
"and reconnect the TDC001")
elif msg_id == MGMSG.HW_RICHRESPONSE:
(code, ) = st.unpack("<H", data[2:4])
raise MsgError("Hardware error {}: {}"
.format(code,
data[4:].decode(encoding="ascii")))
elif (msg_id == MGMSG.MOT_MOVE_COMPLETED or
msg_id == MGMSG.MOT_MOVE_STOPPED or
msg_id == MGMSG.MOT_GET_DCSTATUSUPDATE):
if self.status_report_counter == 25:
self.status_report_counter = 0
self.send_status_ack()
else:
self.status_report_counter += 1
# 'r' is a currently unused and reserved field
self.position, self.velocity, r, self.status = st.unpack(
"<LHHL", data[2:])
def is_moving(self):
status_bits = self.get_status_bits()
return (status_bits & 0x2F0) != 0
def set_pot_parameters(self, zero_wnd, vel1, wnd1, vel2, wnd2, vel3,
wnd3, vel4):
"""Set pot parameters.
:param zero_wnd: The deflection from the mid position (in ADC counts
0 to 127) before motion can start.
:param vel1: The velocity to move when between zero_wnd and wnd1.
:param wnd1: The deflection from the mid position (in ADC counts
zero_wnd to 127) to apply vel1.
:param vel2: The velocity to move when between wnd1 and wnd2.
:param wnd2: The deflection from the mid position (in ADC counts
wnd1 to 127) to apply vel2.
:param vel3: The velocity to move when between wnd2 and wnd3.
:param wnd3: The deflection from the mid position (in ADC counts
wnd2 to 127) to apply vel3.
:param vel4: The velocity to move when beyond wnd3.
"""
payload = st.pack("<HHLHLHLHL", 1, zero_wnd, vel1, wnd1, vel2, wnd2,
vel3, wnd3, vel4)
self.send(Message(MGMSG.MOT_SET_POTPARAMS, data=payload))
def get_pot_parameters(self):
"""Get pot parameters.
:return: An 8 int tuple containing the following values: zero_wnd,
vel1, wnd1, vel2, wnd2, vel3, wnd3, vel4. See
:py:meth:`set_pot_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_pot_parameters>` for a
description of each tuple element meaning.
:rtype: An 8 int tuple
"""
get_msg = self.send_request(MGMSG.MOT_REQ_POTPARAMS,
[MGMSG.MOT_GET_POTPARAMS], 1)
return st.unpack("<HLHLHLHL", get_msg.data[2:])
def hub_get_bay_used(self):
get_msg = self.send_request(MGMSG.HUB_REQ_BAYUSED,
[MGMSG.HUB_GET_BAYUSED])
return get_msg.param1
def set_position_counter(self, position):
"""Set the "live" position count in the controller.
In general, this command is not normally used. Instead, the stage is
homed immediately after power-up; and after the homing process is
completed, the position counter is automatically updated to show the
actual position.
:param position: The new value of the position counter.
"""
payload = st.pack("<Hl", 1, position)
self.send(Message(MGMSG.MOT_SET_POSCOUNTER, data=payload))
def get_position_counter(self):
"""Get the "live" position count from the controller.
:return: The value of the position counter.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_POSCOUNTER,
[MGMSG.MOT_GET_POSCOUNTER], 1)
return st.unpack("<l", get_msg.data[2:])[0]
def set_encoder_counter(self, encoder_count):
"""Set encoder count in the controller.
This is only applicable to stages and actuators fitted
with an encoder. In general this command is not normally used.
Instead the device is homed at power-up.
:param encoder_count: The new value of the encoder counter.
"""
payload = st.pack("<Hl", 1, encoder_count)
self.send(Message(MGMSG.MOT_SET_ENCCOUNTER, data=payload))
def get_encoder_counter(self):
"""Get encoder count from the controller.
:return: The value of the encoder counter.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_ENCCOUNTER,
[MGMSG.MOT_GET_ENCCOUNTER], 1)
return st.unpack("<l", get_msg.data[2:])[0]
def set_velocity_parameters(self, acceleration, max_velocity):
"""Set the trapezoidal velocity parameter.
:param acceleration: The acceleration in encoder counts/sec/sec.
:param max_velocity: The maximum (final) velocity in counts/sec.
"""
payload = st.pack("<HLLL", 1, 0, acceleration, max_velocity)
self.send(Message(MGMSG.MOT_SET_VELPARAMS, data=payload))
def get_velocity_parameters(self):
"""Get the trapezoidal velocity parameters.
:return: A 2 int tuple: (acceleration, max_velocity).
:rtype: A 2 int tuple (int, int)
"""
get_msg = self.send_request(MGMSG.MOT_REQ_VELPARAMS,
[MGMSG.MOT_GET_VELPARAMS], 1)
return st.unpack("<LL", get_msg.data[6:])
def set_jog_parameters(self, mode, step_size, acceleration,
max_velocity, stop_mode):
"""Set the velocity jog parameters.
:param mode: 1 for continuous jogging, 2 for single step jogging.
:param step_size: The jog step size in encoder counts.
:param acceleration: The acceleration in encoder counts/sec/sec.
:param max_velocity: The maximum (final) velocity in encoder
counts/sec.
:param stop_mode: 1 for immediate (abrupt) stop, 2 for profiled stop
(with controlled deceleration).
"""
payload = st.pack("<HHLLLLH", 1, mode, step_size, 0, acceleration,
max_velocity, stop_mode)
self.send(Message(MGMSG.MOT_SET_JOGPARAMS, data=payload))
def get_jog_parameters(self):
"""Get the velocity jog parameters.
:return: A 5 int tuple containing in this order: jog_mode,
step_size, acceleration, max_velocity, stop_mode
:rtype: A 5 int tuple.
"""
get_msg = self.send_request(MGMSG.MOT_REQ_JOGPARAMS,
[MGMSG.MOT_GET_JOGPARAMS], 1)
(jog_mode, step_size, _, acceleration, max_velocity,
stop_mode) = st.unpack("<HLLLLH", get_msg.data[2:])
return jog_mode, step_size, acceleration, max_velocity, stop_mode
def set_gen_move_parameters(self, backlash_distance):
"""Set the backlash distance.
:param backlash_distance: The value of the backlash distance,
which specifies the relative distance in position counts.
"""
payload = st.pack("<Hl", 1, backlash_distance)
self.send(Message(MGMSG.MOT_SET_GENMOVEPARAMS, data=payload))
def get_gen_move_parameters(self):
"""Get the backlash distance.
:return: The value of the backlash distance.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_GENMOVEPARAMS,
[MGMSG.MOT_GET_GENMOVEPARAMS], 1)
return st.unpack("<l", get_msg.data[2:])[0]
def set_move_relative_parameters(self, relative_distance):
"""Set the following relative move parameter: relative_distance.
:param relative_distance: The distance to move. This is a signed
integer that specifies the relative distance in position encoder
counts.
"""
payload = st.pack("<Hl", 1, relative_distance)
self.send(Message(MGMSG.MOT_SET_MOVERELPARAMS, data=payload))
def get_move_relative_parameters(self):
"""Get the relative distance move parameter.
:return: The relative distance move parameter.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_MOVERELPARAMS,
[MGMSG.MOT_GET_MOVERELPARAMS], 1)
return st.unpack("<l", get_msg.data[2:])[0]
def set_move_absolute_parameters(self, absolute_position):
"""Set the following absolute move parameter: absolute_position.
:param absolute_position: The absolute position to move. This is a
signed integer that specifies the absolute move position in encoder
counts.
"""
payload = st.pack("<Hl", 1, absolute_position)
self.send(Message(MGMSG.MOT_SET_MOVEABSPARAMS, data=payload))
def get_move_absolute_parameters(self):
"""Get the absolute position move parameter.
:return: The absolute position to move.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_MOVEABSPARAMS,
[MGMSG.MOT_GET_MOVEABSPARAMS], 1)
return st.unpack("<l", get_msg.data[2:])[0]
def set_home_parameters(self, home_velocity):
"""Set the homing velocity parameter.
:param home_velocity: Homing velocity.
"""
payload = st.pack("<HHHLL", 1, 0, 0, home_velocity, 0)
self.send(Message(MGMSG.MOT_SET_HOMEPARAMS, data=payload))
def get_home_parameters(self):
"""Get the homing velocity parameter.
:return: The homing velocity.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_HOMEPARAMS,
[MGMSG.MOT_GET_HOMEPARAMS], 1)
return st.unpack("<L", get_msg.data[6:10])[0]
def move_home(self):
"""Start a home move sequence.
This call is blocking until device is homed or move is stopped.
"""
self.send_request(MGMSG.MOT_MOVE_HOME,
[MGMSG.MOT_MOVE_HOMED, MGMSG.MOT_MOVE_STOPPED], 1)
def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
"""Set the limit switch parameters.
:param cw_hw_limit: The operation of clockwise hardware limit switch
when contact is made.
0x01 Ignore switch or switch not present.
0x02 Switch makes on contact.
0x03 Switch breaks on contact.
0x04 Switch makes on contact - only used for homes (e.g. limit
switched rotation stages).
0x05 Switch breaks on contact - only used for homes (e.g. limit
switched rotations stages).
0x06 For PMD based brushless servo controllers only - uses index
mark for homing.
Note. Set upper bit to swap CW and CCW limit switches in code. Both
CWHardLimit and CCWHardLimit structure members will have the upper
bit set when limit switches have been physically swapped.
:param ccw_hw_limit: The operation of counter clockwise hardware limit
switch when contact is made.
"""
payload = st.pack("<HHHLLH", 1, cw_hw_limit, ccw_hw_limit, 0, 0, 0)
self.send(Message(MGMSG.MOT_SET_LIMSWITCHPARAMS, data=payload))
def get_limit_switch_parameters(self):
"""Get the limit switch parameters.
:return: A 2 int tuple containing the following in order: cw_hw_limit,
ccw_hw_limit. Cf. description in
:py:meth:`set_limit_switch_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_limit_switch_parameters>`
method.
:rtype: A 2 int tuple.
"""
get_msg = self.send_request(MGMSG.MOT_REQ_LIMSWITCHPARAMS,
[MGMSG.MOT_GET_LIMSWITCHPARAMS], 1)
return st.unpack("<HH", get_msg.data[2:6])
def move_relative_memory(self):
"""Start a relative move of distance in the controller's memory
The relative distance parameter used for the move will be the parameter
sent previously by a :py:meth:`set_move_relative_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_move_relative_parameters>`
command.
"""
self.send_request(MGMSG.MOT_MOVE_RELATIVE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED], 1)
def move_relative(self, relative_distance):
"""Start a relative move
:param relative_distance: The distance to move in position encoder
counts.
"""
payload = st.pack("<Hl", 1, relative_distance)
self.send_request(MGMSG.MOT_MOVE_RELATIVE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
data=payload)
def move_absolute_memory(self):
"""Start an absolute move of distance in the controller's memory.
The absolute move position parameter used for the move will be the
parameter sent previously by a :py:meth:`set_move_absolute_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_move_absolute_parameters>`
command.
"""
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
param1=1)
def move_absolute(self, absolute_distance):
"""Start an absolute move.
:param absolute_distance: The distance to move. This is a signed
integer that specifies the absolute distance in position encoder
counts.
"""
payload = st.pack("<Hl", 1, absolute_distance)
self.send_request(MGMSG.MOT_MOVE_ABSOLUTE,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
data=payload)
def move_jog(self, direction):
"""Start a jog move.
:param direction: The direction to jog. 1 is forward, 2 is backward.
"""
self.send_request(MGMSG.MOT_MOVE_JOG,
[MGMSG.MOT_MOVE_COMPLETED, MGMSG.MOT_MOVE_STOPPED],
param1=1, param2=direction)
def move_velocity(self, direction):
"""Start a move.
When this method is called, the motor will move continuously in the
specified direction using the velocity parameter set by the
:py:meth:`set_move_relative_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_move_relative_parameters>`
command until a :py:meth:`move_stop()
<artiq.devices.thorlabs.driver.Tdc.move_stop>` command (either
StopImmediate or StopProfiled) is called, or a limit switch is reached.
:param direction: The direction to jog: 1 to move forward, 2 to move
backward.
"""
self.send(Message(MGMSG.MOT_MOVE_VELOCITY, param1=1, param2=direction))
def move_stop(self, stop_mode):
"""Stop any type of motor move.
Stops any of those motor move: relative, absolute, homing or move at
velocity.
:param stop_mode: The stop mode defines either an immediate (abrupt)
or profiled stop. Set this byte to 1 to stop immediately, or to 2
to stop in a controlled (profiled) manner.
"""
if self.is_moving():
self.send_request(MGMSG.MOT_MOVE_STOP,
[MGMSG.MOT_MOVE_STOPPED,
MGMSG.MOT_MOVE_COMPLETED],
1, stop_mode)
def set_dc_pid_parameters(self, proportional, integral, differential,
integral_limit, filter_control=0x0F):
"""Set the position control loop parameters.
:param proportional: The proportional gain, values in range [0; 32767].
:param integral: The integral gain, values in range [0; 32767].
:param differential: The differential gain, values in range [0; 32767].
:param integral_limit: The integral limit parameter is used to cap the
value of the integrator to prevent runaway of the integral sum at
the output. Values are in range [0; 32767]. If set to 0, then
integration term in the PID loop is ignored.
:param filter_control: Identifies which of the above are applied by
setting the corresponding bit to 1. By default, all parameters are
applied, and this parameter is set to 0x0F (1111).
"""
payload = st.pack("<HLLLLH", 1, proportional, integral,
differential, integral_limit, filter_control)
self.send(Message(MGMSG.MOT_SET_DCPIDPARAMS, data=payload))
def get_dc_pid_parameters(self):
"""Get the position control loop parameters.
:return: A 5 int tuple containing in this order:
proportional gain, integral gain, differential gain, integral limit
and filter control. Cf. :py:meth:`set_dc_pid_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_dc_pid_parameters>` for
precise description.
:rtype: A 5 int tuple.
"""
get_msg = self.send_request(MGMSG.MOT_REQ_DCPIDPARAMS,
[MGMSG.MOT_GET_DCPIDPARAMS], 1)
return st.unpack("<LLLLH", get_msg.data[2:])
def set_av_modes(self, mode_bits):
"""Set the LED indicator modes.
The LED on the control keyboard can be configured to indicate certain
driver states.
:param mode_bits: Set the bit 0 will make the LED flash when the
'Ident' message is sent.
Set the bit 1 will make the LED flash when the motor reaches a
forward or reverse limit switch.
Set the bit 3 (value 8) will make the LED lit when motor is moving.
"""
payload = st.pack("<HH", 1, mode_bits)
self.send(Message(MGMSG.MOT_SET_AVMODES, data=payload))
def get_av_modes(self):
"""Get the LED indicator mode bits.
:return: The LED indicator mode bits.
:rtype: int
"""
get_msg = self.send_request(MGMSG.MOT_REQ_AVMODES,
[MGMSG.MOT_GET_AVMODES], 1)
return st.unpack("<H", get_msg.data[2:])[0]
def set_button_parameters(self, mode, position1, position2):
"""Set button parameters.
The control keypad can be used either to jog the motor, or to perform
moves to absolute positions. This function is used to set the front
panel button functionality.
:param mode: If set to 1, the buttons are used to jog the motor. Once
set to this mode, the move parameters for the buttons are taken
from the arguments of the :py:meth:`set_jog_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_jog_parameters>` method.
If set to 2, each button can be programmed with a differente
position value such that the controller will move the motor to that
position when the specific button is pressed.
:param position1: The position (in encoder counts) to which the motor
will move when the top button is pressed.
:param position2: The position (in encoder counts) to which the motor
will move when the bottom button is pressed.
"""
payload = st.pack("<HHllHH", 1, mode, position1, position2,
0, 0)
self.send(Message(MGMSG.MOT_SET_BUTTONPARAMS, data=payload))
def get_button_parameters(self):
"""Get button parameters.
:return: A 3 int tuple containing in this order: button mode,
position1 and position2. Cf. :py:meth:`set_button_parameters()
<artiq.devices.thorlabs.driver.Tdc.set_button_parameters>` for
description.
:rtype: A 3 int tuple
"""
get_msg = self.send_request(MGMSG.MOT_REQ_BUTTONPARAMS,
[MGMSG.MOT_GET_BUTTONPARAMS], 1)
return st.unpack("<Hll", get_msg.data[2:12])
def set_eeprom_parameters(self, msg_id):
"""Save the parameter settings for the specified message.
:param msg_id: The message ID of the message containing the parameters
to be saved.
"""
payload = st.pack("<HH", 1, msg_id)
self.send(Message(MGMSG.MOT_SET_EEPROMPARAMS, data=payload))
def get_dc_status_update(self):
"""Request a status update from the motor.
This can be used instead of enabling regular updates.
:return: A 3 int tuple containing in this order: position,
velocity, status bits.
:rtype: A 3 int tuple
"""
get_msg = self.send_request(MGMSG.MOT_REQ_DCSTATUSUPDATE,
[MGMSG.MOT_GET_DCSTATUSUPDATE], 1)
pos, vel, _, stat = st.unpack("<LHHL", get_msg.data[2:])
return pos, vel, stat
def get_status_bits(self):
"""Request a cut down version of the status update with status bits.
:return: The motor status.
:rtype:
"""
get_msg = self.send_request(MGMSG.MOT_REQ_STATUSBITS,
[MGMSG.MOT_GET_STATUSBITS], 1)
return st.unpack("<L", get_msg.data[2:])[0]
def suspend_end_of_move_messages(self):
"""Disable all unsolicited "end of move" messages and error messages
returned by the controller.
i.e., MGMSG.MOT_MOVE_STOPPED, MGMSG.MOT_MOVE_COMPLETED,
MGMSGS_MOT_MOVE_HOMED
"""
self.send(Message(MGMSG.MOT_SUSPEND_ENDOFMOVEMSGS))
def resume_end_of_move_messages(self):
"""Resume all unsolicited "end of move" messages and error messages
returned by the controller.
i.e., MGMSG.MOT_MOVE_STOPPED, MGMSG.MOT_MOVE_COMPLETED,
MGMSG.MOT_MOVE_HOMED
The command also disables the error messages that the controller sends
when an error condition is detected:
MGMSG.HW_RESPONSE,
MGMSG.HW_RICHRESPONSE
"""
self.send(Message(MGMSG.MOT_RESUME_ENDOFMOVEMSGS))
class TpzSim:
def __init__(self):
self.voltage_limit = 150
self.hub_analog_input = 1
def close(self):
pass
def module_identify(self):
pass
def set_position_control_mode(self, control_mode):
self.control_mode = control_mode
def get_position_control_mode(self):
return self.control_mode
def set_output_volts(self, voltage):
self.voltage = voltage
def get_output_volts(self):
return self.voltage
def set_output_position(self, position_sw):
self.position_sw = position_sw
def get_output_position(self):
return self.position_sw
def set_input_volts_source(self, volt_src):
self.volt_src = volt_src
def get_input_volts_source(self):
return self.volt_src
def set_pi_constants(self, prop_const, int_const):
self.prop_const = prop_const
self.int_const = int_const
def get_pi_constants(self):
return self.prop_const, self.int_const
def set_output_lut(self, lut_index, output):
if lut_index < 0 or lut_index > 512:
raise ValueError("LUT index should be in range [0;512] and not {}"
.format(lut_index))
self.lut[lut_index] = output
def get_output_lut(self):
return 0, 0 # FIXME: the API description here doesn't make any sense
def set_output_lut_parameters(self, mode, cycle_length, num_cycles,
delay_time, precycle_rest, postcycle_rest):
self.mode = mode
self.cycle_length = cycle_length
self.num_cycles = num_cycles
self.delay_time = delay_time
self.precycle_rest = precycle_rest
self.postcycle_rest = postcycle_rest
def get_output_lut_parameters(self):
return (self.mode, self.cycle_length, self.num_cycles,
self.delay_time, self.precycle_rest, self.postcycle_rest)
def start_lut_output(self):
pass
def stop_lut_output(self):
pass
def set_eeprom_parameters(self, msg_id):
pass
def set_tpz_display_settings(self, intensity):
self.intensity = intensity
def get_tpz_display_settings(self):
return self.intensity
def set_tpz_io_settings(self, voltage_limit, hub_analog_input):
if voltage_limit not in [75, 100, 150]:
raise ValueError("voltage_limit must be 75 V, 100 V or 150 V")
self.voltage_limit = voltage_limit
self.hub_analog_input = hub_analog_input
def get_tpz_io_settings(self):
return self.voltage_limit, self.hub_analog_input
class TdcSim:
def close(self):
pass
def module_identify(self):
pass
def set_pot_parameters(self, zero_wnd, vel1, wnd1, vel2, wnd2, vel3,
wnd3, vel4):
self.zero_wnd = zero_wnd
self.vel1 = vel1
self.wnd1 = wnd1
self.vel2 = vel2
self.wnd2 = wnd2
self.vel3 = vel3
self.wnd3 = wnd3
self.vel4 = vel4
def get_pot_parameters(self):
return (self.zero_wnd, self.vel1, self.wnd1, self.vel2, self.wnd2,
self.vel3, self.wnd3, self.vel4)
def hub_get_bay_used(self):
return False
def set_position_counter(self, position):
self.position = position
def get_position_counter(self):
return self.position
def set_encoder_counter(self, encoder_count):
self.encoder_count = encoder_count
def get_encoder_counter(self):
return self.encoder_count
def set_velocity_parameters(self, acceleration, max_velocity):
self.acceleration = acceleration
self.max_velocity = max_velocity
def get_velocity_parameters(self):
return self.acceleration, self.max_velocity
def set_jog_parameters(self, mode, step_size, acceleration,
max_velocity, stop_mode):
self.jog_mode = mode
self.step_size = step_size
self.acceleration = acceleration
self.max_velocity = max_velocity
self.stop_mode = stop_mode
def get_jog_parameters(self):
return (self.jog_mode, self.step_size, self.acceleration,
self.max_velocity, self.stop_mode)
def set_gen_move_parameters(self, backlash_distance):
self.backlash_distance = backlash_distance
def get_gen_move_parameters(self):
return self.backlash_distance
def set_move_relative_parameters(self, relative_distance):
self.relative_distance = relative_distance
def get_move_relative_parameters(self):
return self.relative_distance
def set_move_absolute_parameters(self, absolute_position):
self.absolute_position = absolute_position
def get_move_absolute_parameters(self):
return self.absolute_position
def set_home_parameters(self, home_velocity):
self.home_velocity = home_velocity
def get_home_parameters(self):
return self.home_velocity
def move_home(self):
pass
def set_limit_switch_parameters(self, cw_hw_limit, ccw_hw_limit):
self.cw_hw_limit = cw_hw_limit
self.ccw_hw_limit = ccw_hw_limit
def get_limit_switch_parameters(self):
return self.cw_hw_limit, self.ccw_hw_limit
def move_relative_memory(self):
pass
def move_relative(self, relative_distance):
pass
def move_absolute_memory(self):
pass
def move_absolute(self, absolute_distance):
pass
def move_jog(self, direction, async=False):
pass
def move_velocity(self, direction):
pass
def move_stop(self, stop_mode, async=False):
pass
def set_dc_pid_parameters(self, proportional, integral, differential,
integral_limit, filter_control=0x0F):
self.proportional = proportional
self.integral = integral
self.differential = differential
self.integral_limit = integral_limit
self.filter_control = filter_control
def get_dc_pid_parameters(self):
return (self.proportional, self.integral, self.differential,
self.integral_limit, self.filter_control)
def set_av_modes(self, mode_bits):
self.mode_bits = mode_bits
def get_av_modes(self):
return self.mode_bits
def set_button_parameters(self, mode, position1, position2):
self.mode = mode
self.position1 = position1
self.position2 = position2
def get_button_parameters(self):
return self.mode, self.position1, self.position2
def set_eeprom_parameters(self, msg_id):
pass
def get_dc_status_update(self):
return 0, 0, 0x80000400 # FIXME: not implemented yet for simulation
def get_status_bits(self):
return 0x80000400 # FIXME: not implemented yet for simulation
def suspend_end_of_move_messages(self):
pass
def resume_end_of_move_messages(self):
pass
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