docs/examples/driver_examples/Qcodes example with DynaCool PPMS.ipynb

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  {
   "cell_type": "markdown",
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   "source": [
    "# QCoDeS Example with DynaCool PPMS\n",
    "\n",
    "This notebook explains how to control the DynaCool PPMS from QCoDeS.\n",
    "\n",
    "For this setup to work, the proprietary `PPMS Dynacool` application (or, alternatively `Simulate PPMS Dynacool`) must be running on some PC. On that same PC, the `server.py` script (found in `qcodes/instrument_drivers/QuantumDesign/DynaCoolPPMS/private`) must be running. The script can be run from the command line with no arguments and will run under python 3.6+.\n",
    "\n",
    "The architecture is as follows:\n",
    "\n",
    "The QCoDeS driver sends strings via VISA to the server who passes those same strings on to the `CommandHandler` (found in `qcodes/instrument_drivers/QuantumDesign/DynaCoolPPMS/commandhandler`). The `CommandHandler` makes the calls into the proprietary API. The QCoDeS driver can thus be called on any machine that can communicate with the machine hosting the server.\n",
    "\n",
    "Apart from that, the driver is really simple. For this notebook, we used the `Simulate PPMS Dynacool` application running on the same machine as QCoDeS."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib notebook\n",
    "from qcodes.instrument_drivers.QuantumDesign.DynaCoolPPMS.DynaCool import DynaCool"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "To instantiate the driver, simply provide the address and port in the standard VISA format.\n",
    "The connect message is not too pretty, but there does not seem to be a way to query serial and firmware versions."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Connected to:  QuantumDesign dynacool (serial:N/A, firmware:N/A) in 0.13s\n"
     ]
    }
   ],
   "source": [
    "dynacool = DynaCool('dynacool', address=\"TCPIP0::127.0.0.1::5000::SOCKET\")"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "To get an overview over all available parameters, use `print_readable_snapshot`.\n",
    "\n",
    "A value of \"Not available\" means (for this driver) that the parameter has been deprecated."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "dynacool:\n",
      "\tparameter           value\n",
      "--------------------------------------------------------------------------------\n",
      "IDN                  :\t{'vendor': ' QuantumDesign', 'model': 'dynacool', 'ser...\n",
      "chamber_state        :\tsealed \n",
      "chamber_temperature  :\t298.7 (K)\n",
      "field                :\tNot available (T)\n",
      "field_approach       :\tlinear \n",
      "field_measured       :\t1 (T)\n",
      "field_ramp           :\tNone (T)\n",
      "field_rate           :\t0 (T/s)\n",
      "field_setpoint       :\tNot available (T)\n",
      "field_target         :\t1 (T)\n",
      "magnet_state         :\tholding \n",
      "temperature          :\t298.7 (K)\n",
      "temperature_rate     :\t0 (K/s)\n",
      "temperature_setpoint :\t298.7 (K)\n",
      "temperature_settling :\tfast settle \n",
      "temperature_state    :\tnear \n",
      "timeout              :\t5 (s)\n"
     ]
    }
   ],
   "source": [
    "dynacool.print_readable_snapshot(update=True)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Temperature Control\n",
    "\n",
    "As soon as ANY of the temperature rate, the temperature setpoint, or the temperature settling mode parameters has been set, the system will start moving to the given temperature setpoint at the given rate using the given settling mode.\n",
    "\n",
    "The system can continuously be queried for its temperature."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Temperature is now 298.70001220703125 K\n",
      "Temperature is now 298.6000061035156 K\n",
      "Temperature is now 298.5 K\n",
      "Temperature is now 298.5 K\n",
      "Temperature is now 298.3999938964844 K\n",
      "Temperature is now 298.29998779296875 K\n",
      "Temperature is now 298.1999816894531 K\n",
      "Temperature is now 298.1999816894531 K\n",
      "Temperature is now 298.0999755859375 K\n",
      "Temperature is now 297.9999694824219 K\n"
     ]
    }
   ],
   "source": [
    "from time import sleep\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "\n",
    "# example 1\n",
    "\n",
    "dynacool.temperature_rate(0.1)\n",
    "dynacool.temperature_setpoint(dynacool.temperature() - 1.3)\n",
    "\n",
    "temps = []\n",
    "\n",
    "while dynacool.temperature_state() == 'tracking':\n",
    "    temp = dynacool.temperature()\n",
    "    temps.append(temp)\n",
    "    sleep(0.75)\n",
    "    print(f'Temperature is now {temp} K')\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
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       "\n",
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       "\n",
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       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
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       "\n",
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       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"639.8333333333334\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "Text(0, 0.5, 'Temperature (K)')"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "plt.figure()\n",
    "timeax = np.linspace(0, len(temps)*0.2, len(temps))\n",
    "plt.plot(timeax, temps, '-o')\n",
    "plt.xlabel('Time (s)')\n",
    "plt.ylabel('Temperature (K)')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Field Control\n",
    "\n",
    "The field has **five** related parameters:\n",
    "\n",
    "- `field_measured`: The (read-only) field strength right now.\n",
    "- `field_target`: The target field that the `ramp` method will ramp to when called. Setting this parameter does **not** trigger a ramp\n",
    "- `field_rate`: The field ramp rate with initial value of `0`.\n",
    "- `field_approach`: The approach that the system should use to ramp. By default it is set to `linear`.\n",
    "- `field_ramp`: This is a convenience parameter that sets the target field and then triggers a blocking ramp.\n",
    "\n",
    "The idea is that the user first sets the `field_target` and then ramps the field to that target using the `ramp` method. The ramp method takes a `mode` argument that controls whether the ramp is blocking or non-blocking. \n",
    "\n",
    "Using the simulation software, the field change is instanteneous irrespective of rate. We nevertheless include two examples of ramping here."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### A blocking ramp"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "First, we set a field target:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [],
   "source": [
    "field_now = dynacool.field_measured()\n",
    "target = field_now + 1\n",
    "dynacool.field_target(target)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Note that the field has not changed yet:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [],
   "source": [
    "assert dynacool.field_measured() == field_now"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "And now we ramp:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "dynacool.ramp(mode='blocking')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The ramping will take some finite time on a real instrument. The field value is now at the target field:"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Field value: 2.0 T\n",
      "Field target: 2.0 T\n"
     ]
    }
   ],
   "source": [
    "print(f'Field value: {dynacool.field_measured()} T')\n",
    "print(f'Field target: {dynacool.field_target()} T')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### A non-blocking ramp\n",
    "\n",
    "The non-blocking ramp is very similar to the the blocking ramp."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Field value: 1.5 T\n",
      "Field target: 1.5 T\n"
     ]
    }
   ],
   "source": [
    "field_now = dynacool.field_measured()\n",
    "target = field_now - 0.5\n",
    "dynacool.field_target(target)\n",
    "\n",
    "assert dynacool.field_measured() == field_now\n",
    "\n",
    "dynacool.ramp(mode='non-blocking')\n",
    "# Here you can do stuff while the magnet ramps\n",
    "\n",
    "print(f'Field value: {dynacool.field_measured()} T')\n",
    "print(f'Field target: {dynacool.field_target()} T')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Using the `field_ramp` parameter\n",
    "\n",
    "The `field_ramp` parameter sets the target field and ramp when being set."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Now the field is 1.5 T...\n",
      "...and the field target is 1.5 T.\n"
     ]
    }
   ],
   "source": [
    "print(f'Now the field is {dynacool.field_measured()} T...')\n",
    "print(f'...and the field target is {dynacool.field_target()} T.')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "dynacool.field_ramp(1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Now the field is 1.0 T...\n",
      "...and the field target is 1 T.\n"
     ]
    }
   ],
   "source": [
    "print(f'Now the field is {dynacool.field_measured()} T...')\n",
    "print(f'...and the field target is {dynacool.field_target()} T.')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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