class KSG101 (set_io, max_travel, zeroing, identify but problem with get_reading (don't know how to convert the number receive to match what is displayed on the screen)), sinusoidale voltage test, problem with set output_pos (after test with microscope it seems that the position goes from 0 to 10 micrometers (for data in 0 32767))

Author: benoitlx

apt_interface/KPZ101.py

@@ -59,8 +59,9 @@ def set_io(self) -> None:
 
         self.dev.write_with_data(0x07d4, 10, data)
 
-    def set_output_voltage(self, tension: float) -> None:
-        assert self.conf.mode == "open_loop", 'Cannot specify a voltage in open_loop mode'
+    def set_output_voltage(self, tension: int) -> None:
+        """
+        assert self.conf.mode == "open_loop", 'Cannot specify a voltage in closed_loop mode'
         assert tension >= 0 and tension <= self.conf.voltage_limit, f'{tension} volt is not allowed'
 
         # TODO: add an offset
@@ -71,8 +72,20 @@ def set_output_voltage(self, tension: float) -> None:
         data = pack("HH", 0x0001, int(tension * self.device_unit))
 
         print(int(tension * self.device_unit))
+        """
+        data = pack("HH", 0x0001, tension)
+        print(data)
         self.dev.write_with_data(0x0643, 4, data)
 
+    def set_position(self, pos: int) -> None:
+        assert self.conf.mode == "closed_loop", 'Cannot specify a position in open_loop mode'
+        assert pos >= 0 and pos <= 32767 # according to the documentation, negative values aren't used
+
+        data = pack("HH", 0x0001, pos)
+
+        self.dev.write_with_data(0x0646, 4, data)
+
+
     def enable_output(self) -> None:
         print("Warning High Voltage !!")
         self.dev.write(0x0210, 2, 0x01)

apt_interface/KSG101.py

@@ -2,7 +2,7 @@
 from pydantic import BaseModel, field_validator, Field, ValidationInfo
 from pydantic_yaml import parse_yaml_file_as
 from apt_interface import VALID_BAUDRATES
-from struct import pack
+from struct import pack, unpack
 from typing import Iterable
 from typing import Literal, Annotated
 
@@ -14,6 +14,7 @@ class KSG101Config(BaseModel):
     serial_nm: Annotated[str, Field(pattern=r"^59.*")]
     baudrate: VALID_BAUDRATES = 115200
     out: Literal["chann1", "chann2"] = "chann2"
+    unit: Literal["pos", "volt", "force"]
 
 class KSG101():
     pass
@@ -26,8 +27,39 @@ def __init__(self, config_file="config_KSG.yaml") -> None:
         self.dev = Device(self.conf.serial_nm, self.conf.baudrate)
 
     def __enter__(self) -> KSG101:
+        print("test")
         self.dev.begin_connection()
+        self.set_io()
         return self
+    
+    def set_io(self) -> None:
+        unit_dict = {"pos": 0x01, "volt": 0x02, "force": 0x03}
+        self.unit = unit_dict[self.conf.unit]
+
+        chann_dict = {"chann1": 0x01, "chann2": 0x02}
+        self.chann = chann_dict[self.conf.out]
+
+        data = pack("HHHHHHH", 0x0001, self.chann, self.unit, 0x0000, 0x7530, 0, 0)
+        print(data)
+
+        self.dev.write_with_data(0x07da, 14, data)
+
+    def get_reading(self) -> float:
+        buffer = self.dev.read_data(0x07dd, 12)
+
+        read = unpack("HHHHhH", buffer)[4]
+
+        return read
+    
+    def get_max_travel(self) -> float:
+        buffer = self.dev.read_data(0x0650, 10)
+
+        read = unpack("HHHHH", buffer)[4]
+
+        return read
+    
+    def zeroing(self) -> None:
+        self.dev.write(0x0658, 0, 0)
 
     def identify(self) -> bool:
         """MGMSG_MOD_IDENTIFY"""

apt_interface/__init__.py

@@ -1,3 +1,4 @@
 from typing import Literal
 
+__version__ = "1.0.0"
 VALID_BAUDRATES = Literal[110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000]

apt_interface/device.py

@@ -33,11 +33,11 @@ def __enter__(self) -> Device:
         self.begin_connection()
         return self
 
-    def read_data(self, func: bytes, size: int) -> str:
-        self.write(func, 0x00, 0x00)
+    def read_data(self, func: bytes, size: int) -> bytes:
+        self.write(func, 0x00, 0x00) # request value
 
-        sleep(.005*size/90) # if you encounter reception problem, please increase the ratio 
-        return bytes(self.ftdi.read_data_bytes(size, attempt=2))
+        sleep(.01) # if you encounter reception problem, please increase the duration 
+        return bytes(self.ftdi.read_data_bytes(size, attempt=3)) # get value
 
     def write(self, func: bytes, param1: bytes, param2: bytes) -> bool:
         bytes_array = pack("<HBBBB", func, param1, param2, self.dest, self.src)

config_KPZ.yaml

@@ -2,5 +2,6 @@
 name: X_axis_controller
 serial_nm: "29501986"
 baudrate: 115200
-mode: open_loop
+mode: closed_loop
+feedback_in: chann2
 voltage_limit: 75 

config_KSG.yaml

@@ -2,4 +2,5 @@
 name: X_axis_gauge
 serial_nm: "59000407"
 baudrate: 115200
-out: chann2
+out: chann2
+unit: pos 

identify_devices.py

@@ -8,11 +8,11 @@
     print("should make the KPZ screen blink")
     print(dev.write(0x0223, 2, 0x00))
 
-sleep(8)
+# sleep(8)
 
 # KSG101
 with Device("59000407", 115200) as dev:
-    print("Wrinting")
+    print("Writing")
     print("should make the KSG screen blink")
     print(dev.write(0x0223, 2, 0x00))
 

kpz101_test.py

@@ -1,21 +1,38 @@
 from apt_interface.KPZ101 import KPZ101, KPZ101Config
 from time import sleep
 import json
+from math import sin, pi
 
 #print(json.dumps(KPZ101Config.model_json_schema()))
 
+def voltage_prompt(kpz):
+    while True:
+        p = int(input("desired voltage 0..32767: "))
+        kpz.set_output_voltage(p)
+
+def sinus_voltage(kpz):
+    i = 0
+    while True: 
+        # v = int(32767/2+(32767/5)*sin(i*4*pi/100))
+        v = int(32767/2+(32767/2)*sin(i*4*pi/100))
+        kpz.set_output_voltage(v)
+        i+=1
+        sleep(.1)
+
+
 with KPZ101(config_file="config_KPZ.yaml") as kpz:
     print(kpz.conf)
 
     print(kpz.get_info())
 
-    kpz.identify()
-    sleep(8)
 
     kpz.enable_output()
+    """
     voltages = [0, 1, 5, 10, 20, 30, 40, 50]
     for v in voltages:
         kpz.set_output_voltage(v)
         sleep(3)
+    """
 
-    sleep(100)
+    # voltage_prompt(kpz)
+    sinus_voltage(kpz)

ksg101_test.py

@@ -7,4 +7,10 @@
 with KSG101(config_file="config_KSG.yaml") as ksg:
     print(ksg.conf)
 
-    ksg.identify()
+    ksg.identify()
+
+    print(ksg.get_max_travel())
+
+    while True:
+        print(ksg.get_reading()) 
+        sleep(1)

test.py

@@ -0,0 +1,25 @@
+
+from apt_interface.KSG101 import KSG101
+from apt_interface.KPZ101 import KPZ101
+from time import sleep
+
+with KSG101() as ksg, KPZ101() as kpz:
+    print(ksg.conf)
+    print(kpz.conf)
+
+    kpz.enable_output()
+    ksg.zeroing()
+
+    """
+    positions = range(1000)
+    for p in positions:
+        kpz.set_position(p)
+        sleep(.3)
+        print(65534 - p, ksg.get_reading())
+    """
+
+    while True:
+        p = int(input("desired position -32768..32767: "))
+        kpz.set_position(p)
+        sleep(2)
+        print("reading -32768..32767: ", ksg.get_reading())