Capture¶

class ingeniamotion.capture.Capture(motion_controller)¶

Capture.

create_poller(registers, servo='default', sampling_time=0.125, buffer_size=100, start=True)¶

Returns a Poller instance with target registers.

Parameters

registers (list of dict) –

list of registers to add to the Poller. Dicts should have the follow format:

[
    { # Poller register one
        "name": "CL_POS_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis. If it has no axis field, by default axis 1.
    },
    { # Poller register two
        "name": "CL_VEL_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis. If it has no axis field, by default axis 1.
    }
]

servo (str) – servo alias to reference it. default by default.
sampling_time (float) – period of the sampling in seconds. By default 0.125 seconds.
buffer_size (int) – number maximum of sample for each data read. 100 by default.
start (bool) – if True, function starts poller, if False poller should be started after. True by default.

Returns

Poller object with chosen registers.

Poller.start()

Poller starts reading the registers.

Poller.stop()

Poller stop reading the registers.

Poller.data

tuple with 3 items: a list of timestamp, list of lists of values (one list of values for each register), and a boolean that indicates if data was lost.

When the poller starts, the lists are filled with the timestamp and the value of the registers reading. The maximum length of the list will be buffer_size value, when this size is reached, the older value will be removed and the newest will be added.

When the property data is read list are reset to a empty list.

Return type

Poller

create_monitoring(registers, prescaler, sample_time, trigger_delay=0, trigger_mode=<MonitoringSoCType.TRIGGER_EVENT_NONE: 0>, trigger_signal=None, trigger_value=None, servo='default', start=False)¶

Returns a Monitoring instance configured with target registers.

Parameters

registers (list of dict) –

list of registers to add to Monitoring. Dicts should have the follow format:

[
    { # Monitoring register one
        "name": "CL_POS_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis. If it has no axis field, by default axis 1.
    },
    { # Monitoring register two
        "name": "CL_VEL_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis. If it has no axis field, by default axis 1.
    }
]

prescaler (int) – determines monitoring frequency. Frequency will be Position & velocity loop rate frequency / prescaler, see ingeniamotion.configuration.Configuration.get_position_and_velocity_loop_rate() to know about this frequency. It must be 1 or higher.
sample_time (float) – sample time in seconds.
trigger_delay (float) – trigger delay in seconds. Value should be between -sample_time/2 and sample_time/2 . 0 by default.
trigger_mode (MonitoringSoCType) – monitoring start of condition type. TRIGGER_EVENT_NONE by default.
trigger_signal (dict) – dict with name and axis of trigger signal for rising or falling edge trigger.
trigger_value (int or float) – value for rising or falling edge trigger.
servo (str) – servo alias to reference it. default by default.
start (bool) – if True, function starts monitoring, if False monitoring should be started after. False by default.

Returns

Instance of monitoring configured.

Return type

Monitoring

Raises

ValueError – If prescaler is less than 1.
ValueError – If trigger_delay is not between -total_time/2 and total_time/2.
MonitoringError – If register maps fails in the servo.
MonitoringError – If buffer size is not enough for all the registers and samples.
MonitoringError – If trigger_mode is rising or falling edge trigger and trigger signal is not mapped.
TypeError – If trigger_mode is rising or falling edge trigger and trigger_signal or trigger_value are None.

create_disturbance(register, data, freq_divider, servo='default', axis=1, start=False)¶

Returns a Disturbance instance configured with target registers.

Parameters

register (str) – target register UID.
data (list) – data to write in disturbance.
freq_divider (int) – determines disturbance frequency divider. Frequency will be Position & velocity loop rate frequency / freq_divider, see ingeniamotion.configuration.Configuration.get_position_and_velocity_loop_rate() to know about this frequency. It must be 1 or higher.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
start (bool) – if True, function starts disturbance, if False disturbance should be started after. False by default.

Returns

Instance of disturbance configured.

Return type

Disturbance

Raises

ValueError – If freq_divider is less than 1.
DisturbanceError – If buffer size is not enough for all the registers and samples.