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example-v4.py
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example-v4.py
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#
# PyANC350v4 example file
# by Brian Schaefer, adapted from pyanc-example.py by Rob Heath
#
from pyanc350.v4 import Positioner
import time
ax = {'x':0,'y':1,'z':2}
#define a dict of axes to make things simpler
anc = Positioner()
#instantiate positioner as anc
print('-------------------------------------------------------------')
print('capacitances:')
for axis in sorted(ax.keys()):
print(axis,anc.measureCapacitance(ax[axis]))
anc.setFrequency(ax[axis],200)
anc.setAmplitude(ax[axis],45)
# print('-------------------------------------------------------------')
# print('setting static amplitude to 2V')
# anc.staticAmplitude(2000)
# #set staticAmplitude to 2V to ensure accurate positioning info
# staticAmplitude function does not exist in v4
print('-------------------------------------------------------------')
print('moving to x = 3mm')
anc.setAxisOutput(ax['x'], 1, 0)
anc.setTargetRange(ax['x'],1e-6)
anc.setTargetPosition(ax['x'], 9e-3)
anc.startAutoMove(ax['x'], 1, 0)
#check what's happening
time.sleep(0.5)
moving = 1
target = 0
while target == 0:
connected, enabled, moving, target, eotFwd, eotBwd, error = anc.getAxisStatus(ax['x']) #find bitmask of status
if target == 0:
print('axis moving, currently at',anc.getPosition(ax['x']))
elif target == 1:
print('axis arrived at',anc.getPosition(ax['x']))
anc.startAutoMove(ax['x'], 0, 0)
time.sleep(0.5)
print('and moving y:')
anc.setAxisOutput(ax['y'], 1, 0)
anc.setTargetRange(ax['y'],1e-6)
anc.setTargetPosition(ax['y'], 8e-3)
anc.startAutoMove(ax['y'], 1, 0)
time.sleep(0.5)
target = 0
while target == 0:
connected, enabled, moving, target, eotFwd, eotBwd, error = anc.getAxisStatus(ax['y']) #find bitmask of status
if target == 0:
print('axis moving, currently at',anc.getPosition(ax['y']))
elif target == 1:
print('axis arrived at',anc.getPosition(ax['y']))
anc.startAutoMove(ax['y'], 0, 0)
time.sleep(0.5)
print('-------obtaining all possible gettable values for x---------')
#get every possible gettable value
print('getActuatorName',anc.getActuatorName(ax['x']))
print('getActuatorType',anc.getActuatorType(ax['x']))
print('getAmplitude',anc.getAmplitude(ax['x']))
print('getAxisStatus',anc.getAxisStatus(ax['x']))
print('getDeviceConfig',anc.getDeviceConfig())
print('getDeviceInfo',anc.getDeviceInfo())
print('getFirmwareVersion',anc.getFirmwareVersion())
print('getFrequency',anc.getFrequency(ax['x']))
print('getPosition',anc.getPosition(ax['x']))
print('-------------------------------------------------------------')
print('testing \'functions for manual positioning\'')
anc.setFrequency(ax['x'],50)
print('set frequency to 50Hz')
for i in range(30):
anc.startSingleStep(ax['x'],0)
time.sleep(0.1)
print('arrived at:',anc.getPosition(ax['x']),'after 30 pulses')
anc.startContinuousMove(ax['x'],1, 0)
print('waiting 3 seconds...')
time.sleep(3)
anc.startContinuousMove(ax['x'],0, 0)
print('and stopped at',anc.getPosition(ax['x']))
print('set frequency to 200Hz')
anc.setFrequency(ax['x'],200)
anc.startContinuousMove(ax['x'],1, 0)
print('waiting 3 seconds...')
time.sleep(3)
anc.startContinuousMove(ax['x'],0, 0)
print('-------------------------------------------------------------')
print('closing connection...')
anc.disconnect()
print('-------------------------------------------------------------')