From 64e1de24748ca9b04a794aeabca4957888ba0c62 Mon Sep 17 00:00:00 2001
From: Pascal <engelerp@phys.ethz.ch>
Date: Tue, 13 Jun 2023 16:58:06 +0200
Subject: [PATCH] Updated file
---
drivers/pid_controller/pidcontroller.py | 97 ++++++++++++++++++++++++-
1 file changed, 95 insertions(+), 2 deletions(-)
diff --git a/drivers/pid_controller/pidcontroller.py b/drivers/pid_controller/pidcontroller.py
index 34f4e49..262aa48 100644
--- a/drivers/pid_controller/pidcontroller.py
+++ b/drivers/pid_controller/pidcontroller.py
@@ -21,13 +21,106 @@ class PidController:
self.ser = None
print(f"Failed to open Serial Port {self.port}.")
+ def reconnect(self):
+ try:
+ self.ser = serial.Serial(self.port, baudrate=9600, timeout=2)
+ self.connected = True
+ except:
+ self.ser = None
+ print(f"Failed to open Serial Port {self.port}.")
+ self.connected = False
+
+
def disconnect(self):
self.ser.close()
def _sendCommand(self, command):
- self.ser.write(command.encode())
+ try:
+ self.ser.write(command.encode())
+ except:
+ print(f"Serial port {self.port} is not open.")
+ return ""
time.sleep(0.5)
text = ""
while(self.ser.in_waiting):
text += self.ser.read().decode()
- return text
\ No newline at end of file
+ return text
+
+ def getTemperatures(self):
+ text = self._sendCommand('t')
+ if(text == '!'):
+ return '!'
+ texts = text.split(',')
+ temps = []
+ for t in texts:
+ if t[-1] == ';':
+ temps.append(float(t[:-1]))
+ else:
+ temps.append(float(t))
+ return temps
+
+ def getPidCoeff(self):
+ text = self._sendCommand('p')
+ if(text == '!'):
+ return '!'
+ texts = text.split(',')
+ coeffs = []
+ for t in texts:
+ if t[-1] == ';':
+ coeffs.append(float(t[:-1]))
+ else:
+ coeffs.append(float(t))
+ return coeffs
+
+ def getPropIntDer(self):
+ text = self._sendCommand('v')
+ if(text == '!'):
+ return '!'
+ texts = text.split(',')
+ prinde = []
+ for t in texts:
+ if t[-1] == ';':
+ prinde.append(float(t[:-1]))
+ else:
+ prinde.append(float(t))
+ return prinde
+
+ def getOutput(self):
+ text = self._sendCommand('o')
+ if(text == '!'):
+ return '!'
+ return float(text[:-1])
+
+ def getSetpoint(self):
+ text = self._sendCommand('s')
+ if(text == '!'):
+ return '!'
+ return float(text[:-1])
+
+ def setP(self, pval):
+ text = self._sendCommand(f'P{pval};')
+ return text
+
+ def setI(self, ival):
+ text = self._sendCommand(f'I{ival};')
+ return text
+
+ def setD(self, dval):
+ text = self._sendCommand(f'D{dval};')
+ return text
+
+ def setIntegral(self, integral):
+ text = self._sendCommand(f'N{integral};')
+ return text
+
+ def setTemperature(self, temperature):
+ text = self._sendCommand(f'S{temperature};')
+ return text
+
+ def setIntResErr(self, errThresh):
+ text = self._sendCommand(f'E{errThresh};')
+ return text
+
+ def nop(self):
+ text = self._sendCommand(f'?')
+ return text
--
GitLab