forked from M-Labs/artiq
suservo: speed up example, interlock mem
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ae80bab180
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@ -38,7 +38,7 @@ class SUServo(EnvExperiment):
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profile=0, adc=0, a1=-0x800, b0=0x1000, b1=0, delay=0)
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delay(10*us)
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self.suservo0_ch0.set_dds_mu(
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profile=0, ftw=0x12345667, offset=0x1, pow=0xaa55)
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profile=0, ftw=0x12345667, offset=0x1000, pow=0xaa55)
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# enable channel
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self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0)
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# enable servo iterations
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@ -64,11 +64,15 @@ class SUServo(EnvExperiment):
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# repeatedly clear the IIR state/integrator
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# with the ADC yielding 0's and given the profile configuration,
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# this will lead to a slow ram up of the amplitude over about 200ms
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# this will lead to a slow ram up of the amplitude over about 40µs
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# followed by saturation and repetition.
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while True:
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self.suservo0_ch0.set(1, 0, 0)
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delay(1*us)
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self.suservo0_ch0.set_y_mu(0, 0)
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delay(.2*s)
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delay(1*us)
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self.suservo0_ch0.set(1, 1, 0)
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delay(60*us)
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@kernel
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def led(self):
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