Markus Zolliker
4cdd3b0709
mainly from frappy_psi Change-Id: I192811459aebe97f3076888cd31a308a51e6aa49
49 lines
2.0 KiB
Python
49 lines
2.0 KiB
Python
# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# M. Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""simulated transducer DPM3 read out"""
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import random
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import math
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from frappy.core import Readable, Parameter, FloatRange, Attached
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from frappy.lib import clamp
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class DPM3(Readable):
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motor = Attached()
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jitter = Parameter('simulated jitter', FloatRange(unit='N'), default=0.1, readonly=False)
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hysteresis = Parameter('simulated hysteresis', FloatRange(unit='deg'), default=100, readonly=False)
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friction = Parameter('friction', FloatRange(unit='N/deg'), default=2.5, readonly=False)
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slope = Parameter('slope', FloatRange(unit='N/deg'), default=0.5, readonly=False)
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offset = Parameter('offset', FloatRange(unit='N'), default=0, readonly=False)
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_pos = 0
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def read_value(self):
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mot = self.motor
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d = self.friction * self.slope
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self._pos = clamp(self._pos, mot.value - d, mot.value + d)
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f = (mot.value - self._pos) / self.slope
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if mot.value > 0:
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f = max(f, (mot.value - self.hysteresis) / self.slope)
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else:
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f = min(f, (mot.value + self.hysteresis) / self.slope)
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return f + self.jitter * (random.random() - random.random()) * 0.5
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