Merge pull request #145 from Galvant/ch-qubitekk-mc1-rebase

Adding quibtekk mc1 support

doc/examples/qubitekk/ex_qubitekk_mc1.py

@@ -0,0 +1,39 @@
+#!/usr/bin/python
+# Qubitekk Motor controller example
+from time import sleep
+
+from instruments.qubitekk import MC1
+import quantities as pq
+
+
+if __name__ == "__main__":
+
+    mc1 = MC1.open_serial(vid=1027, pid=24577, baud=9600, timeout=1)
+    mc1.step_size = 25*pq.ms
+    mc1.inertia = 10*pq.ms
+    print("step size:", mc1.step_size)
+    print("inertial force: ", mc1.inertia)
+
+    print("Firmware", mc1.firmware)
+    print("Motor controller type: ", mc1.controller)
+    print("centering")
+
+    mc1.center()
+    while mc1.is_centering():
+        print(str(mc1.metric_position)+" "+str(mc1.direction))
+        pass
+
+    print("Stage Centered")
+    # for the motor in the mechanical delay line, the travel is limited from
+    # the full range of travel. Here's how to set the limits.
+    mc1.lower_limit = -260*pq.ms
+    mc1.upper_limit = 300*pq.ms
+    mc1.increment = 5*pq.ms
+    x_pos = mc1.lower_limit
+    while x_pos <= mc1.upper_limit:
+        print(str(mc1.metric_position)+" "+str(mc1.direction))
+        mc1.move(x_pos)
+        while mc1.move_timeout > 0:
+            sleep(0.5)
+        sleep(1)
+        x_pos += mc1.increment

doc/source/apiref/qubitekk.rst

@@ -14,4 +14,9 @@ Qubitekk
     :members:
     :undoc-members:
 
+:class:`MC1` Motor Controller
+=============================
 
+.. autoclass:: MC1
+    :members:
+    :undoc-members:

instruments/qubitekk/__init__.py

@@ -7,3 +7,4 @@
 from __future__ import absolute_import
 
 from .cc1 import CC1
+from .mc1 import MC1

instruments/qubitekk/mc1.py

@@ -0,0 +1,255 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+Provides support for the Qubitekk MC1 Motor Controller.
+
+MC1 Class originally contributed by Catherine Holloway.
+"""
+
+# IMPORTS #####################################################################
+
+from __future__ import absolute_import, division
+
+from builtins import range, map
+from enum import Enum
+
+import quantities as pq
+
+from instruments.abstract_instruments import Instrument
+from instruments.util_fns import (
+    int_property, enum_property, unitful_property, assume_units
+)
+
+# CLASSES #####################################################################
+
+
+class MC1(Instrument):
+    """
+    The MC1 is a controller for the qubitekk motor controller. Used with a
+    linear actuator to perform a HOM dip.
+    """
+    def __init__(self, filelike):
+        super(MC1, self).__init__(filelike)
+        self.terminator = "\r"
+        self._increment = 1*pq.ms
+        self._lower_limit = -300*pq.ms
+        self._upper_limit = 300*pq.ms
+        self._firmware = None
+        self._controller = None
+
+    # ENUMS #
+
+    class MotorType(Enum):
+        """
+        Enum for the motor types for the MC1
+        """
+        radio = "Radio"
+        relay = "Relay"
+
+    # PROPERTIES #
+
+    @property
+    def increment(self):
+        """
+        Gets/sets the stepping increment value of the motor controller
+
+        :units: As specified, or assumed to be of units milliseconds
+        :type: `~quantities.Quantity`
+        """
+        return self._increment
+
+    @increment.setter
+    def increment(self, newval):
+        self._increment = assume_units(newval, pq.ms).rescale(pq.ms)
+
+    @property
+    def lower_limit(self):
+        """
+        Gets/sets the stepping lower limit value of the motor controller
+
+        :units: As specified, or assumed to be of units milliseconds
+        :type: `~quantities.Quantity`
+        """
+        return self._lower_limit
+
+    @lower_limit.setter
+    def lower_limit(self, newval):
+        self._lower_limit = assume_units(newval, pq.ms).rescale(pq.ms)
+
+    @property
+    def upper_limit(self):
+        """
+        Gets/sets the stepping upper limit value of the motor controller
+
+        :units: As specified, or assumed to be of units milliseconds
+        :type: `~quantities.Quantity`
+        """
+        return self._upper_limit
+
+    @upper_limit.setter
+    def upper_limit(self, newval):
+        self._upper_limit = assume_units(newval, pq.ms).rescale(pq.ms)
+
+    direction = unitful_property(
+        name="DIRE",
+        doc="""
+        Get the internal direction variable, which is a function of how far
+        the motor needs to go.
+
+        :type: `~quantities.Quantity`
+        :units: milliseconds
+        """,
+        units=pq.ms,
+        readonly=True
+    )
+
+    inertia = unitful_property(
+        name="INER",
+        doc="""
+        Gets/Sets the amount of force required to overcome static inertia. Must
+         be between 0 and 100 milliseconds.
+
+        :type: `~quantities.Quantity`
+        :units: milliseconds
+        """,
+        format_code='{:.0f}',
+        units=pq.ms,
+        valid_range=(0*pq.ms, 100*pq.ms),
+        set_fmt=":{} {}"
+    )
+
+    @property
+    def internal_position(self):
+        """
+        Get the internal motor state position, which is equivalent to the total
+         number of milliseconds that voltage has been applied to the motor in
+         the positive direction minus the number of milliseconds that voltage
+         has been applied to the motor in the negative direction.
+
+        :type: `~quantities.Quantity`
+        :units: milliseconds
+        """
+        response = int(self.query("POSI?"))*self.step_size
+        return response
+
+    metric_position = unitful_property(
+        name="METR",
+        doc="""
+        Get the estimated motor position, in millimeters.
+
+        :type: `~quantities.Quantity`
+        :units: millimeters
+        """,
+        units=pq.mm,
+        readonly=True
+    )
+
+    setting = int_property(
+        name="OUTP",
+        doc="""
+        Gets/sets the output port of the optical switch. 0 means input 1 is
+        directed to output 1, and input 2 is directed to output 2. 1 means that
+         input 1 is directed to output 2 and input 2 is directed to output 1.
+
+        :type: `int`
+        """,
+        valid_set=range(2),
+        set_fmt=":{} {}"
+    )
+
+    step_size = unitful_property(
+        name="STEP",
+        doc="""
+        Gets/Sets the number of milliseconds per step. Must be between 1
+        and 100 milliseconds.
+
+        :type: `~quantities.Quantity`
+        :units: milliseconds
+        """,
+        format_code='{:.0f}',
+        units=pq.ms,
+        valid_range=(1*pq.ms, 100*pq.ms),
+        set_fmt=":{} {}"
+    )
+
+    @property
+    def firmware(self):
+        """
+        Gets the firmware version
+
+        :rtype: `tuple`(Major:`int`, Minor:`int`, Patch`int`)
+        """
+        # the firmware is assumed not to change while the device is active
+        # firmware is stored locally as it will be gotten often
+        # pylint: disable=no-member
+        if self._firmware is None:
+            while self._firmware is None:
+                self._firmware = self.query("FIRM?")
+                value = self._firmware.split(".")
+                if len(value) < 3:
+                    for _ in range(3-len(value)):
+                        value.append(0)
+                value = tuple(map(int, value))
+                self._firmware = value
+        return self._firmware
+
+    controller = enum_property(
+        'MOTO',
+        MotorType,
+        doc="""
+        Get the motor controller type.
+        """,
+        readonly=True
+    )
+
+    @property
+    def move_timeout(self):
+        """
+        Get the motor's timeout value, which indicates the number of
+        milliseconds before the motor can start moving again.
+
+        :type: `~quantities.Quantity`
+        :units: milliseconds
+        """
+        response = int(self.query("TIME?"))
+        return response*self.step_size
+
+    # METHODS #
+
+    def is_centering(self):
+        """
+        Query whether the motor is in its centering phase
+
+        :return: False if not centering, True if centering
+        :rtype: `bool`
+        """
+        response = self.query("CENT?")
+        return True if int(response) == 1 else False
+
+    def center(self):
+        """
+        Commands the motor to go to the center of its travel range
+        """
+        self.sendcmd(":CENT")
+
+    def reset(self):
+        """
+        Sends the stage to the limit of one of its travel ranges
+        """
+        self.sendcmd(":RESE")
+
+    def move(self, new_position):
+        """
+        Move to a specified location. Position is unitless and is defined as
+        the number of motor steps. It varies between motors.
+
+        :param new_position: the location
+        :type new_position: `~quantities.Quantity`
+        """
+        if self.lower_limit <= new_position <= self.upper_limit:
+            new_position = assume_units(new_position, pq.ms).rescale(pq.ms)
+            clock_cycles = new_position/self.step_size
+            cmd = ":MOVE "+str(int(clock_cycles))
+            self.sendcmd(cmd)
+        else:
+            raise ValueError("Location out of range")