/**
* Callback to be run whenever a new motor info message is received
*/
void motorInfoCallback(const epos_manager::MotorInfo::ConstPtr& msg){
if(msg->node_id == panMotor.nodeId){
//Get Position of motor
panMotor.currentPosition=msg->motor_position;
//If motor has discovered boundary points, and is in between them, allow user control
if(panMotor.maxValue!=0 && panMotor.minValue!=0 && !isMotorTooClose(panMotor))
panMotor.isReadyForControl=true;
//If it is homing mode, home it
if(panMotor.isHoming) homeMotor(&panMotor, msg);
//If motor is no longer homing and is too close stop it
else if(panMotor.isReadyForControl && isMotorTooClose(panMotor) ){
sendVelocityMessage(panMotor,0);
}
//Calculate and publish the camera angle
panMotor.angle =((double)(panMotor.currentPosition - panMotor.homePos))
/PAN_MOTOR_GEAR_RATIO/512*90;
publishCameraAngle();
}
if(msg->node_id == tiltMotor.nodeId ){
tiltMotor.currentPosition = msg->motor_position;
if(tiltMotor.maxValue!=0 && tiltMotor.minValue!=0 && !isMotorTooClose(tiltMotor))
tiltMotor.isReadyForControl=true;
if (tiltMotor.isHoming) homeMotor(&tiltMotor, msg);
else if(tiltMotor.isReadyForControl && isMotorTooClose(tiltMotor)){
sendVelocityMessage(tiltMotor,0);
}
//Calculate and publish the camera angle
tiltMotor.angle =((double)(tiltMotor.currentPosition - tiltMotor.homePos))
/TILT_MOTOR_GEAR_RATIO/512*90;
}
if(msg->node_id == boomMotor.nodeId ){
boomMotor.currentPosition=msg->motor_position;
if(boomMotor.maxValue!=0 && boomMotor.minValue!=0 && !isMotorTooClose(boomMotor))
boomMotor.isReadyForControl=true;
if (boomMotor.isHoming){
homeMotor(&boomMotor, msg);
}
else if(boomMotor.isReadyForControl && isMotorTooClose(boomMotor)){
sendVelocityMessage(boomMotor,0);
}
}
}
int main (int argc, char **argv)
{
float value, returnFloat, wavelength;
int revolutions;
/* Variables for generating a file name with date and time */
time_t rawtime;
struct tm * timeinfo;
char fileName[BUFSIZE], comments[BUFSIZE];
char dailyFileName[BUFSIZE];
char dataCollectionFileName[] = "/home/pi/.takingData";
FILE *fp,*dataCollectionFlagFile,*configFile;
if (argc==2){
strcpy(comments,argv[1]);
} else {
printf("usage '~$ sudo ./faradayScan <comments in quotes>'\n");
return 1;
}
// Indicate that data is being collected.
dataCollectionFlagFile=fopen(dataCollectionFileName,"w");
if (!dataCollectionFlagFile) {
printf("unable to open file:\t%s\n",dataCollectionFileName);
exit(1);
}
revolutions=1;
// Set up interfacing devices
initializeBoard();
initializeUSB1208();
// Get file name. Use format "FDayScan"+$DATE+$TIME+".dat"
time(&rawtime);
timeinfo=localtime(&rawtime);
struct stat st = {0};
strftime(fileName,BUFSIZE,"/home/pi/RbData/%F",timeinfo); //INCLUDE
if (stat(fileName, &st) == -1){
mkdir(fileName,S_IRWXU | S_IRWXG | S_IRWXO );
}
strftime(fileName,BUFSIZE,"/home/pi/RbData/%F/FDayScan%F_%H%M%S.dat",timeinfo); //INCLUDE
strftime(dailyFileName,BUFSIZE,"/home/pi/RbData/%F/FDayScan%F.dat",timeinfo); //INCLUDE
printf("%s\n",fileName);
printf("%s\n",comments);
fp=fopen(fileName,"w");
if (!fp) {
printf("Unable to open file: %s\n",fileName);
fflush(stdout);
exit(1);
}
configFile=fopen("/home/pi/RbControl/system.cfg","r");
if (!configFile) {
printf("Unable to open config file\n");
fflush(stdout);
exit(1);
}
fprintf(fp,"#Filename:\t%s\n#Comments:\t%s\n",fileName,comments);
/** Record System Stats to File **/
/** Pressure Gauges **/
getIonGauge(&returnFloat);
printf("IonGauge %2.2E Torr \n",returnFloat);
fprintf(fp,"#IonGauge(Torr):\t%2.2E\n",returnFloat);
getConvectron(GP_N2_CHAN,&returnFloat);
printf("CVGauge(N2) %2.2E Torr\n", returnFloat);
fprintf(fp,"#CVGauge(N2)(Torr):\t%2.2E\n", returnFloat);
getConvectron(GP_HE_CHAN,&returnFloat);
printf("CVGauge(He) %2.2E Torr\n", returnFloat);
fprintf(fp,"#CVGauge(He)(Torr):\t%2.2E\n", returnFloat);
/** Temperature Controllers **/
//getPVCN7500(CN_RESERVE,&returnFloat);
fprintf(fp,"#T_res:\t%f\n",returnFloat);
//getSVCN7500(CN_RESERVE,&returnFloat);
fprintf(fp,"#T_res_set:\t%f\n",returnFloat);
//getPVCN7500(CN_TARGET,&returnFloat);
fprintf(fp,"#T_trg:\t%f\n",returnFloat);
//getSVCN7500(CN_TARGET,&returnFloat);
fprintf(fp,"#T_trg_set:\t%f\n",returnFloat);
/** End System Stats Recording **/
char line[1024];
fgets(line,1024,configFile);
while(line[0]=='#'){
fprintf(fp,"%s",line);
fgets(line,1024,configFile);
}
fclose(configFile);
/*
int numDet=18,j;
float scanDet[]={-33,-30,-19,-18,-9,-5,-4.5,-4,-3.5,6,6.5,7,7.5,11,20,21,30,33};
*/
int numDet=10,j;
float scanDet[]={-30,-27,-19,-18,-9,11,20,21,30,33};
fprintf(fp,"#Revolutions:\t%d\n",revolutions);
fprintf(fp,"#DataPointsPerRev:\t%f\n",DATAPTSPERREV);
fprintf(fp,"#NumVolts:\t%d\n",numDet);
fprintf(fp,"#StepSize:\t%d\n",STEPSIZE);
// Write the header for the data to the file.
fprintf(fp,"STEP\tPUMP\tPUMPsd\tPRB\tPRBsd\tREF\tREFsd\n");
fclose(fp);
printf("Homing motor...\n");
homeMotor(PROBE_MOTOR);
// int numPd=3;
// int pd[] = {PUMP_LASER,PROBE_LASER,REF_LASER};
int numPd=2;
int pd[] = {BOTLOCKIN,TOPLOCKIN};
fp=fopen(fileName,"a");
setProbeDetuning(scanDet[0]);
delay(10000);
for(j=0;j<numDet;j++){
setProbeDetuning(scanDet[j]);
getVortexPiezo(&value);
delay(1000);
getProbeFrequency(&wavelength);
// wavelength=-1;
fprintf(fp,"\n\n#VOLT:%f(%f)\n",value,wavelength);
printf("VOLT:%f(%f)\t",value,wavelength);
fflush(stdout);
quickHomeMotor(PROBE_MOTOR);
collectDiscreteFourierData(fp,pd,numPd /*numPhotoDet*/,PROBE_MOTOR,revolutions);
}//end for Volt
fclose(fp);
//printf("Processing Data...\n");
//analyzeData(fileName, numDet, revolutions, dataPointsPerRevolution, FOI);
char* extensionStart;
extensionStart=strstr(fileName,".dat");
strcpy(extensionStart,"RotationAnalysis.dat");
//printf("Plotting Data...\n");
//plotData(fileName);
//printf("Calculating number density...\n");
//calculateNumberDensity(fileName, 0, 0);
//printf("Recording number density to file...\n");
//recordNumberDensity(fileName);
closeUSB1208();
// Remove the file indicating that we are taking data.
fclose(dataCollectionFlagFile);
remove(dataCollectionFileName);
return 0;
}
int main (int argc, char **argv)
{
int i;
int upOrDown;
int revolutions,dataPointsPerRevolution;
time_t rawtime;
float returnFloat;
//float probeOffset,mag1Voltage,mag2Voltage;
struct tm * timeinfo;
char fileName[BUFSIZE], comments[BUFSIZE];
char dailyFileName[BUFSIZE];
char dataCollectionFileName[] = "/home/pi/.takingData";
FILE *fp,*dataCollectionFlagFile,*configFile;
float angle=-99;
float desiredAngle,tempChange;
if (argc==4){
upOrDown=atof(argv[1]);
desiredAngle=atof(argv[2]);
strcpy(comments,argv[3]);
} else {
printf("usage '~$ sudo ./stepTemperatureWaitForRotationAngle <up or down (0 down, 1 up)> <desired Angle> <comments in quotes>'\n");
printf(" Don't forget to edit the config file! \n");
return 1;
}
// Indicate that data is being collected.
dataCollectionFlagFile=fopen(dataCollectionFileName,"w");
if (!dataCollectionFlagFile) {
printf("unable to open file:\t%s\n",dataCollectionFileName);
exit(1);
}
revolutions=1;
dataPointsPerRevolution=(int)STEPSPERREV/STEPSIZE;
// Set up interfacing devices
initializeBoard();
initializeUSB1208();
if(upOrDown==0){
tempChange=-.1;
}else{
tempChange=.1;
}
do{
getPVCN7500(CN_RESERVE,&returnFloat);
setSVCN7500(CN_RESERVE,returnFloat+tempChange);
delay(1800000);
//delay(180);
configFile=fopen("/home/pi/RbControl/system.cfg","r");
if (!configFile) {
printf("Unable to open config file\n");
exit(1);
}
// Get file name. Use format "FDayScan"+$DATE+$TIME+".dat"
time(&rawtime);
timeinfo=localtime(&rawtime);
struct stat st = {0};
strftime(fileName,BUFSIZE,"/home/pi/RbData/%F",timeinfo); //INCLUDE
if (stat(fileName, &st) == -1){
mkdir(fileName,S_IRWXU | S_IRWXG | S_IRWXO );
}
strftime(fileName,BUFSIZE,"/home/pi/RbData/%F/FDayRotation%F_%H%M%S.dat",timeinfo); //INCLUDE
strftime(dailyFileName,BUFSIZE,"/home/pi/RbData/%F/FDayRotation%F.dat",timeinfo); //INCLUDE
printf("%s\n",fileName);
printf("%s\n",comments);
fp=fopen(fileName,"w");
if (!fp) {
printf("Unable to open file: %s\n",fileName);
exit(1);
}
fprintf(fp,"#Filename:\t%s\n#Comments:\t%s\n",fileName,comments);
getIonGauge(&returnFloat);
//printf("IonGauge %2.2E Torr \n",returnFloat);
fprintf(fp,"#IonGauge(Torr):\t%2.2E\n",returnFloat);
getConvectron(GP_N2_CHAN,&returnFloat);
//printf("CVGauge(N2) %2.2E Torr\n", returnFloat);
fprintf(fp,"#CVGauge(N2)(Torr):\t%2.2E\n", returnFloat);
getConvectron(GP_HE_CHAN,&returnFloat);
//printf("CVGauge(He) %2.2E Torr\n", returnFloat);
fprintf(fp,"#CVGauge(He)(Torr):\t%2.2E\n", returnFloat);
getPVCN7500(CN_RESERVE,&returnFloat);
fprintf(fp,"#T_res:\t%f\n",returnFloat);
getSVCN7500(CN_RESERVE,&returnFloat);
fprintf(fp,"#T_res_set:\t%f\n",returnFloat);
getPVCN7500(CN_TARGET,&returnFloat);
fprintf(fp,"#T_trg:\t%f\n",returnFloat);
getSVCN7500(CN_TARGET,&returnFloat);
fprintf(fp,"#T_trg_set:\t%f\n",returnFloat);
char line[1024];
fgets(line,1024,configFile);
while(line[0]=='#'){
fprintf(fp,"%s",line);
fgets(line,1024,configFile);
}
fclose(configFile);
fprintf(fp,"#Revolutions:\t%d\n",revolutions);
fprintf(fp,"#DataPointsPerRev:\t%d\n",dataPointsPerRevolution);
fprintf(fp,"#NumVoltages:\t%d\n",1);
fprintf(fp,"#PumpFrequency:\t%f\n",getPumpFrequency(&returnFloat));
//fprintf(fp,"#ProbeWavelength:\t%f\n",getProbeFreq());
// UNCOMMENT THE FOLLOWING LINES WHEN COLLECTING STANDARD DATA
int photoDetectors[] = {PUMP_LASER,PROBE_LASER,REF_LASER};
char* names[]={"PMP","PRB","REF"};
// UNCOMMENT THE FOLLOWING LINES WHEN USING THE FLOATING PD
//int photoDetectors[] = {PROBE_LASER,PUMP_LASER,REF_LASER};
//char* names[]={"PRB","PMP","REF"};
int numPhotoDetectors = 3;
int motor = PROBE_MOTOR;
// Write the header for the data to the file.
fprintf(fp,"STEP");
for(i=0;i<numPhotoDetectors;i++){
fprintf(fp,"\t%s\t%ssd",names[i],names[i]);
}
fprintf(fp,"\n");
fclose(fp);
fp=fopen(fileName,"a");
homeMotor(motor);
angle=collectDiscreteFourierData(fp, photoDetectors, numPhotoDetectors, motor, revolutions);
printf("The measured angle was: %3.1f\n",angle);
fclose(fp);
printf("Processing Data...\n");
analyzeData(fileName, 1, revolutions, dataPointsPerRevolution,FOI);
}while(angle > desiredAngle + .4 || angle < desiredAngle -.4);
closeUSB1208();
// Remove the file indicating that we are taking data.
fclose(dataCollectionFlagFile);
remove(dataCollectionFileName);
return 0;
}
int getPolarizationData(char* fileName, int VHe, int dwell, float leakageCurrent){
char command[64];
char echoData[128];
// Variables for stepper motor control.
int nsteps,steps,ninc,i;
// Variables for data collections.
long returnCounts;
long sumCounts;
float current1, current2,angle;
float currentErr;
float* measurement = calloc(dwell*2,sizeof(float));
// Write Aout for He traget here
setUSB1208AnalogOut(HETARGET,(__u16)VHe);
//i = setSorensen120Volts(VHe,SORENSEN120,GPIBBRIDGE1);
//if(i!=0){
// printf("Error setting Sorensen. Code: %d\n",i);
//}
// NOTE THAT THIS SETS THE FINAL ELECTRON ENERGY. THIS ALSO DEPENDS ON BIAS AND TARGET OFFSET. AN EXCIATION FN WILL TELL THE
// USER WHAT OUT TO USE, OR JUST MANUALLY SET THE TARGET OFFSET FOR THE DESIRED ENERGY
// Begin File setup
FILE* rawData=fopen(fileName,"a");
if (!rawData) {
printf("Unable to open file: %s\n",fileName);
exit(1);
}
// End File setup
homeMotor(POL_MOTOR);
nsteps=STEPSPERREV*REVOLUTIONS;
ninc=STEPSPERREV/DATAPOINTSPERREV; // The number of steps to take between readings.
fprintf(rawData,"STEP\tCOUNT\tCURRENT\tCURRENTsd\tANGLE\n");// This line withough a comment is vital for being able to quickly process data. DON'T REMOVE
printf("Steps\tCounts\tCurrent\n");
for (steps=0;steps<nsteps;steps+=ninc){
stepMotor(POL_MOTOR,CCLK,ninc);
current1=0.0;
current2=0.0;
sumCounts=0;
for(i=0;i<dwell;i++){
//writeRS485to232Bridge("READ?",echoData,0xCA);
//current += atof(echoData);
do{
getUSB1208AnalogIn(0,¤t1);
}while(current1 == 0);
getUSB1208Counter(10,&returnCounts);
sumCounts += returnCounts;
do{
getUSB1208AnalogIn(0,¤t2);
}while(current2 == 0);
}
currentErr=(current1-current2)/(current1+current2);
angle = (float)steps/STEPSPERREV*2.0*PI;
printf("%d\t%ld\t%1.2e\n",steps,sumCounts,current1+leakageCurrent);
fprintf(rawData,"%d\t%ld\t%e\t%f\t%f\n",steps,sumCounts,current1+leakageCurrent,currentErr,angle);
}
fclose(rawData);
// Reset Helium Target Offset back to zero
i = setSorensen120Volts(VHe,SORENSEN120,GPIBBRIDGE1);
if(i!=0){
printf("Error setting Sorensen. Code: %d\n",i);
}
//setUSB1208AnalogOut(HETARGET,0);
return 0;
}
