Markus Zolliker
bbe70fb3cb
- all of them have to be checked! Change-Id: I89d55ca683d0b2710222f14c2c3cd42f8fbf3a1f
50 lines
2.0 KiB
Python
50 lines
2.0 KiB
Python
# -*- coding: utf-8 -*-
|
|
# *****************************************************************************
|
|
#
|
|
# This program is free software; you can redistribute it and/or modify it under
|
|
# the terms of the GNU General Public License as published by the Free Software
|
|
# Foundation; either version 2 of the License, or (at your option) any later
|
|
# version.
|
|
#
|
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
|
# details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License along with
|
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
#
|
|
# Module authors:
|
|
# M. Zolliker <markus.zolliker@psi.ch>
|
|
#
|
|
# *****************************************************************************
|
|
"""simulated transducer DPM3 read out"""
|
|
|
|
import random
|
|
import math
|
|
from frappy.core import Readable, Parameter, FloatRange, Attached
|
|
from frappy.lib import clamp
|
|
|
|
|
|
class DPM3(Readable):
|
|
motor = Attached()
|
|
jitter = Parameter('simulated jitter', FloatRange(unit='N'), default=0.1, readonly=False)
|
|
hysteresis = Parameter('simulated hysteresis', FloatRange(unit='deg'), default=100, readonly=False)
|
|
friction = Parameter('friction', FloatRange(unit='N/deg'), default=2.5, readonly=False)
|
|
slope = Parameter('slope', FloatRange(unit='N/deg'), default=0.5, readonly=False)
|
|
offset = Parameter('offset', FloatRange(unit='N'), default=0, readonly=False)
|
|
|
|
_pos = 0
|
|
|
|
def read_value(self):
|
|
mot = self._motor
|
|
d = self.friction * self.slope
|
|
self._pos = clamp(self._pos, mot.value - d, mot.value + d)
|
|
f = (mot.value - self._pos) / self.slope
|
|
if mot.value > 0:
|
|
f = max(f, (mot.value - self.hysteresis) / self.slope)
|
|
else:
|
|
f = min(f, (mot.value + self.hysteresis) / self.slope)
|
|
return f + self.jitter * (random.random() - random.random()) * 0.5
|