Module TempControllerCN0391
This module is a wrapper for the serial commands needed to adjust all of the parameters of a temperature controller built with the CN0391 temperature shield and an Arduino Uno.
Classes
class TempControllerCN0391 (port: str = None, baud_rate: str = 9600, path: str = None)-
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class TempControllerCN0391: def __init__(self, port:str = None, baud_rate:str = _DEFAULT_BAUD, path:str = None): '''Initialize the temperature controller. __Note:__ The Serial port changes with operating system: - On Linux and macOS, use '/dev/ttyACM0' or similar - On Windows, use 'COM3' or similar Parameters ---------- port: str Serial port used by the Arduino to communicate with the computer. \ Required if `path` is not provided. baud_rate: int Baud rate at which the Arduino is configured. Optional parameter that defaults to \ hardcoded value if none is provided path : str Path to JSON file containing the controller parameters. Parameter is optional \ and overrides `port` and `baud_rate` ''' # initialize dictionary self.json_data = {} # json file is provided if type(path) == str: self.load_json_file(path) # get json_data self.serial = ArduinoSerial.SerialCommunication( self.json_data["serial_port"], \ self.json_data["baud_rate"] ) # load data self.setup( *self.json_data["sensor_types"] ) self.set_json_coefficients() # no json file elif path == None: self.serial = ArduinoSerial.SerialCommunication(port, baud_rate) # populate empty dict self.json_data = self._construct_json() self.json_data["serial_port"] = port self.json_data["baud_rate"] = baud_rate # ================ setup ================ # See: `arduino.ino` -> setup() # `SerialCom.ino` -> readSensorTypes() def _setup(self, cmd:str) -> None: '''Private implementation of setup(). Captures and sends serial commands \ to configure sensor types. Calibration is performed automatically by the Arduino. Parameters ---------- cmd : string Serial command ''' # delay to initialize device self.serial.flush() time.sleep(2) # check and send response while True: data = self.serial.read_serial() print(data) if data == 'WAITING-TYPES': # COMMAND MUST MATCH ARDUINO OUTPUT reply = self._setter(cmd) # send sensor types print(reply) elif data == "CALIBRATED": # COMMAND MUST MATCH ARDUINO OUTPUT self.flush() break def setup(self, type0:str=None, type1:str=None, type2:str=None, type3:str=None) -> None: '''Assigns the sensor types for each port and performs an initial calibration of the temperature sensors. Defaults to pre-programmed sensor types if no parameters are provided. Parameters ---------- type0 : str Sensor type (N, K, J, etc) of channel 0. Must be a character. type1 : str Same as before but for channel 1 type2 : str Same as before but for channel 2 type3 : str Same as before but for channel 3 ''' # Custom types if type0 and type1 and type2 and type3: cmd = str(type0) + str(type1) + str(type2) + str(type3) self._setup(cmd) # Default types else: self._setup('0') # store types self._set_sensor_type_json() # ================ wrappers ================ def close(self) -> None: ''' Close the serial connection. Must call at the end of program execution to ensure \ the connection does not remain active. ''' self.serial.close() def flush(self) -> None: ''' Block program execution and wait for serial commands to be written ''' self.serial.flush() def is_active(self) -> bool: '''Returns whether the serial connection is active (True) or disabled (False) Returns ------- is_active: bool ''' return self.serial.is_active() def send_serial_command(self, cmd:str) -> str: ''' Send an arbitrary serial command and receive a reply from the Arduino Parameters ---------- cmd: str String that contains serial command Returns ------- reply : str String that contains serial reply from the Arduino ''' return self._setter(cmd) # ================ functions ================ # private def _getter(self, cmd:str, out:str = None) -> str | list | dict: ''' Private function to send a specific serial command and receive a parsed reply Parameters ---------- cmd: str String that contains serial command out: str Optional parameter. Specifies the type of output after parsing the string. Can be: None, "param", "str", "str_arr" Returns ------- None : dict If no parameter is specified, the function returns a dictionary with \ all data from a parsed serial command param : list[float] returns list[float] of the captured coefficients received from the arduino str : str returns the raw string received via serial str_arr : list[str] returns the received serial command split by a comma (,) delimiter ''' self.serial.write_serial(cmd) return self.serial.read_data(out) def _setter(self, cmd:str) -> str: ''' Private function to send an arbitrary serial command a receive the raw reply. \ See: send_serial_command() ''' self.serial.write_serial(cmd) return self.serial.read_serial() # recognize message is received # sensor def get_filter(self) -> list: '''Gets the temperature measurements that have been smoothed by a kalman filter Returns ------- temp: list[float] Temperature of each port: [port1, port2, port3, port4] ''' cmd = "0" return self._getter(cmd, out='param') def get_raw(self) -> list: '''Gets the raw temperature measurements of the sensor(s) Returns ------- temp: list[float] Temperature of each port: [port1, port2, port3, port4] ''' cmd = "1" return self._getter(cmd, out='param') def get_target(self) -> list: '''Gets the target temperatures of the PID controllers Returns ------- temp: list[float] Target temperature of each port: [port1, port2, port3, port4] ''' cmd = "2" return self._getter(cmd, out='param') # target def set_target(self, ch:int, target:float) -> None: '''Sets the target temperature of the PID controller of a specific port Parameters ---------- ch : int Channel of the temperature shield. Options are: {0, 1, 2, 3} target : float Target temperature (in Celsius) for the PID controller of specified channel ''' cmd = "3," + str(ch) + "," + str(target) self._setter(cmd) def set_target_all(self, targ0:float, targ1:float, targ2:float, targ3:float) -> None: '''Sets the target temperature for all PID controllers simultaneously Parameters ---------- targ0 : float Target temperature (in Celsius) for the PID controller of channel 0 targ1 : float Target temperature (in Celsius) for the PID controller of channel 1 targ2 : float Target temperature (in Celsius) for the PID controller of channel 2 targ3 : float Target temperature (in Celsius) for the PID controller of channel 3 ''' cmd = "3,4," + str(targ0) + "," + str(targ1) + "," + str(targ2) + "," + str(targ3) self._setter(cmd) # PID controller def get_pid(self, ch:int) -> list: '''Gets the PID coefficients of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- coefficients: list[float] values in the order: [Proportional, Integral, Derivative] ''' cmd = "4," + str(ch) return self._getter(cmd, out='param') def set_pid(self, ch:int, kp:float, ki:float, kd:float) -> None: '''Sets the PID coefficients of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} kp : float Proportional coefficient ki : float Integral coefficient kd : float Derivative coefficient ''' cmd = "5," + str(ch) + "," + str(kp) + "," + str(ki) + "," + str(kd) self._setter(cmd) self._set_pid_json(ch, kp, ki, kd) # input limits def get_in_limit(self, ch:int) -> list: """Gets the target temperature limits (in Celsius) for the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- limits: list[float] values in the order: [input_max, input_min] """ cmd = "6," + str(ch) return self._getter(cmd, out='param') def set_in_limit(self, ch:int, imax:float, imin:float) -> None: '''Sets the target temperature limits (in Celsius) for the PID controller \ of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} imax : float Maximum allowable target temperature (in Celsius) imin : float Minimum allowable target temperature (in Celsius) ''' cmd = "7," + str(ch) + "," + str(imax) + "," + str(imin) self._setter(cmd) self._set_in_limit_json(ch, imax, imin) # Filters # alpha-beta def get_ab_filter(self, ch:int) -> list: '''Gets the coefficients of the alpha-beta filter assigned to the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- coefficients: list[float] values in the order: [alpha, beta] ''' cmd = "8," + str(ch) return self._getter(cmd, out='param') def set_ab_filter(self, ch:int, alpha:float, beta:float) -> None: '''Sets the coefficients of the alpha-beta filter assigned to the PID controller \ of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} alpha: float Alpha coefficient (signal smoothing): 0 < alpha < 1 beta : float Beta coefficient (derivative smoothing): 0 < beta < 1 ''' cmd = "9," + str(ch) + "," + str(alpha) + "," + str(beta) self._setter(cmd) self._set_ab_filter_json(ch, alpha, beta) # kalman def get_k_filter(self, ch:int) -> list: '''Gets the coefficients of the kalman filter assigned to the temperature \ measurements of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- Coefficients: list[float] values in the order: [error, noise] ''' cmd = "10," + str(ch) return self._getter(cmd, out='param') def set_k_filter(self, ch:int, error:float, noise:float) -> None: '''Sets the coefficients of the kalman filter assigned to the temperature \ measurements of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} error : float Standard deviation of the measurement. Must be positive. noise : float Process noise parameter. A smaller value smooths the data at the cost of lag: \ 0 < noise < 1 ''' cmd = "11," + str(ch) + "," + str(error) + "," + str(noise) self._setter(cmd) self._set_k_filter_json(ch, error, noise) def set_k_filter_state(self, ch:int, value:float) -> None: '''Sets state of the kalman filter assigned to specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} value : float Value of the filter (in Celsius) ''' cmd = "12," + str(ch) + "," + str(value) self._setter(cmd) # Sensors def get_sensor_type(self) -> list: # NOTE: returns characters '''Retrieves the sensor type (N, K, J, etc) that was assigned \ to each port of the CN0391 Returns ------- types: list[str] Sensor type of each port: [port1, port2, port3, port4] ''' cmd = "13" return self._getter(cmd, out='str_arr')[1:] #Enable / Disable controllers def set_enable(self, ch:int) -> None: '''Enables the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "14," + str(ch) self._setter(cmd) self._set_enable_json(ch) def set_enable_all(self) -> None: ''' Enables the PID controller of every channel ''' cmd = "14,4" self._setter(cmd) self._set_enable_all_json() def set_disable(self, ch:int): '''Disables the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "15," + str(ch) self._setter(cmd) self._set_disable_json(ch) def set_disable_all(self) -> None: ''' Disables the PID controller of every channel ''' cmd = "15,4" self._setter(cmd) self._set_disable_all_json() def get_enable(self) -> list: '''Retrieves which ports have a PID controller actively monitoring their temperature. A port can be active (True) or disabled (False) Returns ------- state: list[bool] condition of each port: [port1, port2, port3, port4] ''' cmd = "16" data = self._getter(cmd, out='param') return [elem == True for elem in data] # convert int to boolean # timers def get_timer(self) -> list: '''Retrieves the time (in seconds) each port has been actively controlling its temperature. Returns ------- times: list[float] Time each port has been active: [port1, port2, port3, port4] ''' cmd = "17" return self._getter(cmd, out='param') def get_timeout(self) -> list: '''Retrieves the time (in seconds) each port is allowed to control its temperature. Returns ------- timeouts: list[float] Time each port can be active: [port1, port2, port3, port4] ''' cmd = "18" return self._getter(cmd, out='param') def set_timeout(self, ch:int, time:float) -> None: '''Sets the time a PID controller will be enabled for a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} time : float Time (in seconds) the controller will be active ''' cmd = "19," + str(ch) + "," + str(time) self._setter(cmd) self._set_timeout_json(ch, time) def set_timeout_inf(self, ch:int) -> None: '''Allow the PID controller at a specific port to run forever Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "19," + str(ch) + ",-1" # send value for infinite time. See `Commands.h` self._setter(cmd) self._set_timeout_inf_json(ch) # ================ JSON coefficients ================ #----- Reading ------- def load_json_file(self, path:str) -> None: '''Load the JSON file containing the controller parameters Parameters ---------- path : str Path to the JSON file ''' with open(path) as outfile: self.json_data = json.load(outfile) def set_json_coefficients(self) -> None: '''Load the coefficients contained in the JSON file. Requires Calling `load_json_file` \ beforehand. Will not work otherwise. ''' # retrieve data parameters = self.json_data["parameters"] for channel, param in enumerate(parameters): # load paramters kp = param["kp"] ki = param["ki"] kd = param["kd"] alpha = param["alpha"] beta = param["beta"] error = param["error"] noise = param["noise"] imax = param["imax"] imin = param["imin"] timeout = param["timeout"] enable = param["enable"] # write state self.set_pid(channel, kp, ki, kd) self.set_ab_filter(channel, alpha, beta) self.set_k_filter(channel, error, noise) self.set_in_limit(channel, imax, imin) self.set_timeout(channel, timeout) if enable: self.set_enable(channel) def get_json_data(self) -> dict: '''Retrieves the parameters and coefficients required to configure the serial communication \ and PID controllers. Returns ------- data : dict Dictionary with all of the parameters and coefficients parsed from the JSON File. ''' return self.json_data #----- Writing ------- def _construct_json(self) -> dict: '''Constructs a dictionary with the form needed to store the controller parameters. Returns ------- data : dict dictionary with every value set to `None` ''' coeffs = { "kp": None, "ki": None, "kd": None, "alpha": None, "beta": None, "error": None, "noise": None, "imax": None, "imin": None, "timeout": None, "enable": None } data = { "baud_rate": None, "serial_port": None, "sensor_types": [None, None, None, None], "parameters": [ coeffs.copy(), \ coeffs.copy(), \ coeffs.copy(), \ coeffs.copy() ] # ensure a hard copy [:] } return data def save_json_file(self, path:str) -> None: '''Save a JSON file with the current controller parameters Parameters ---------- path : str Path to the JSON file ''' with open(path, "w") as outfile: json_object = json.dumps(self.json_data, indent=4) outfile.write(json_object) # store file #-- functions to store state in JSON file: def get_device_coefficients(self) -> None: '''Gets the coefficients currently loaded on the Arduino and prepares them to be stored in a JSON file. ''' # get enabled ports is_enabled = self.get_enable() timeout = self.get_timeout() # set json data for ch in range(0, 4): # enable if is_enabled[ch]: self._set_enable_json(ch) else: self._set_disable_json(ch) # set state # pid var = self.get_pid(ch) self._set_pid_json( ch, var[0], var[1], var[2] ) # alpha-beta filter var = self.get_ab_filter(ch) self._set_ab_filter_json( ch, var[0], var[1] ) # kalman filter var = self.get_k_filter(ch) self._set_k_filter_json( ch, var[0], var[1] ) # input limits var = self.get_in_limit(ch) self._set_in_limit_json( ch, var[0], var[1] ) # timeout self._set_timeout_json( ch, timeout[ch] ) def _set_pid_json(self, ch:int, kp:float, ki:float, kd:float) -> None: '''Stores the PID coefficients in a dictionary Parameters ---------- See `set_pid` for details ''' self.json_data["parameters"][ch]["kp"] = kp self.json_data["parameters"][ch]["ki"] = ki self.json_data["parameters"][ch]["kd"] = kd def _set_in_limit_json(self, ch:int, imax:float, imin:float) -> None: '''Stores the input limits in a dictionary Parameters ---------- See `set_in_limit` for details ''' self.json_data["parameters"][ch]["imax"] = imax self.json_data["parameters"][ch]["imin"] = imin def _set_k_filter_json(self, ch:int, error:float, noise:float) -> None: '''Stores the coefficients for a kalman filter in a dictionary Parameters ---------- See `set_k_filter` for details ''' self.json_data["parameters"][ch]["error"] = error self.json_data["parameters"][ch]["noise"] = noise def _set_ab_filter_json(self, ch:int, alpha:float, beta:float) -> None: '''Stores the coefficients for an alpha-beta filter in a dictionary Parameters ---------- See `set_ab_filter` for details ''' self.json_data["parameters"][ch]["alpha"] = alpha self.json_data["parameters"][ch]["beta"] = beta def _set_enable_json(self, ch:int) -> None: '''Stores whether a PID controller is enabled in a dictionary Parameters ---------- See `set_enable` for details ''' self.json_data["parameters"][ch]["enable"] = 1 def _set_enable_all_json(self) -> None: '''Stores whether all PID controllers are enabled in a dictionary Parameters ---------- See `set_enable_all` for details ''' for ch in range(0,4): self._set_enable_json(ch) def _set_disable_json(self, ch:int) -> None: '''Stores whether a PID controller is disabled in a dictionary Parameters ---------- See `set_disable` for details ''' self.json_data["parameters"][ch]["enable"] = 0 def _set_disable_all_json(self) -> None: '''Stores whether all PID controllers are disabled in a dictionary Parameters ---------- See `set_disable_all` for details ''' for ch in range(0,4): self._set_disable_json(ch) def _set_timeout_json(self, ch:int, time:float) -> None: '''Stores the time a PID controller can be enabled in a dictionary Parameters ---------- See `set_timeout` for details ''' self.json_data["parameters"][ch]["timeout"] = time def _set_timeout_inf_json(self, ch:int) -> None: '''Stores whether a PID controller stay on indefinitely in a dictionary Parameters ---------- See `set_timeout_inf` for details ''' self.json_data["parameters"][ch]["timeout"] = -1 # Uses default for infinite time. # See: /arduino/Serialcom.ino def _set_sensor_type_json(self) -> None: '''Stores the sensor type for each for in a dictionary Parameters ---------- See `set_sensor_type` for details ''' self.json_data["sensor_types"] = self.get_sensor_type()Initialize the temperature controller.
Note: The Serial port changes with operating system:
- On Linux and macOS, use '/dev/ttyACM0' or similar
- On Windows, use 'COM3' or similar
Parameters
port:str- Serial port used by the Arduino to communicate with the computer.
Required if
pathis not provided. baud_rate:int- Baud rate at which the Arduino is configured. Optional parameter that defaults to hardcoded value if none is provided
path:str- Path to JSON file containing the controller parameters. Parameter is optional
and overrides
portandbaud_rate
Methods
def close(self) ‑> None-
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def close(self) -> None: ''' Close the serial connection. Must call at the end of program execution to ensure \ the connection does not remain active. ''' self.serial.close()Close the serial connection. Must call at the end of program execution to ensure the connection does not remain active.
def flush(self) ‑> None-
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def flush(self) -> None: ''' Block program execution and wait for serial commands to be written ''' self.serial.flush()Block program execution and wait for serial commands to be written
def get_ab_filter(self, ch: int) ‑> list-
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def get_ab_filter(self, ch:int) -> list: '''Gets the coefficients of the alpha-beta filter assigned to the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- coefficients: list[float] values in the order: [alpha, beta] ''' cmd = "8," + str(ch) return self._getter(cmd, out='param')Gets the coefficients of the alpha-beta filter assigned to the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
Returns
coefficients:list[float]- values in the order: [alpha, beta]
def get_device_coefficients(self) ‑> None-
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def get_device_coefficients(self) -> None: '''Gets the coefficients currently loaded on the Arduino and prepares them to be stored in a JSON file. ''' # get enabled ports is_enabled = self.get_enable() timeout = self.get_timeout() # set json data for ch in range(0, 4): # enable if is_enabled[ch]: self._set_enable_json(ch) else: self._set_disable_json(ch) # set state # pid var = self.get_pid(ch) self._set_pid_json( ch, var[0], var[1], var[2] ) # alpha-beta filter var = self.get_ab_filter(ch) self._set_ab_filter_json( ch, var[0], var[1] ) # kalman filter var = self.get_k_filter(ch) self._set_k_filter_json( ch, var[0], var[1] ) # input limits var = self.get_in_limit(ch) self._set_in_limit_json( ch, var[0], var[1] ) # timeout self._set_timeout_json( ch, timeout[ch] )Gets the coefficients currently loaded on the Arduino and prepares them to be stored in a JSON file.
def get_enable(self) ‑> list-
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def get_enable(self) -> list: '''Retrieves which ports have a PID controller actively monitoring their temperature. A port can be active (True) or disabled (False) Returns ------- state: list[bool] condition of each port: [port1, port2, port3, port4] ''' cmd = "16" data = self._getter(cmd, out='param') return [elem == True for elem in data] # convert int to boolean # timersRetrieves which ports have a PID controller actively monitoring their temperature. A port can be active (True) or disabled (False)
Returns
state:list[bool]- condition of each port: [port1, port2, port3, port4]
def get_filter(self) ‑> list-
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def get_filter(self) -> list: '''Gets the temperature measurements that have been smoothed by a kalman filter Returns ------- temp: list[float] Temperature of each port: [port1, port2, port3, port4] ''' cmd = "0" return self._getter(cmd, out='param')Gets the temperature measurements that have been smoothed by a kalman filter
Returns
temp:list[float]- Temperature of each port: [port1, port2, port3, port4]
def get_in_limit(self, ch: int) ‑> list-
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def get_in_limit(self, ch:int) -> list: """Gets the target temperature limits (in Celsius) for the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- limits: list[float] values in the order: [input_max, input_min] """ cmd = "6," + str(ch) return self._getter(cmd, out='param')Gets the target temperature limits (in Celsius) for the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
Returns
limits:list[float]- values in the order: [input_max, input_min]
def get_json_data(self) ‑> dict-
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def get_json_data(self) -> dict: '''Retrieves the parameters and coefficients required to configure the serial communication \ and PID controllers. Returns ------- data : dict Dictionary with all of the parameters and coefficients parsed from the JSON File. ''' return self.json_dataRetrieves the parameters and coefficients required to configure the serial communication and PID controllers.
Returns
data:dict- Dictionary with all of the parameters and coefficients parsed from the JSON File.
def get_k_filter(self, ch: int) ‑> list-
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def get_k_filter(self, ch:int) -> list: '''Gets the coefficients of the kalman filter assigned to the temperature \ measurements of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- Coefficients: list[float] values in the order: [error, noise] ''' cmd = "10," + str(ch) return self._getter(cmd, out='param')Gets the coefficients of the kalman filter assigned to the temperature measurements of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
Returns
Coefficients:list[float]- values in the order: [error, noise]
def get_pid(self, ch: int) ‑> list-
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def get_pid(self, ch:int) -> list: '''Gets the PID coefficients of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} Returns ------- coefficients: list[float] values in the order: [Proportional, Integral, Derivative] ''' cmd = "4," + str(ch) return self._getter(cmd, out='param')Gets the PID coefficients of a specific channel Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
Returns
coefficients:list[float]- values in the order: [Proportional, Integral, Derivative]
def get_raw(self) ‑> list-
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def get_raw(self) -> list: '''Gets the raw temperature measurements of the sensor(s) Returns ------- temp: list[float] Temperature of each port: [port1, port2, port3, port4] ''' cmd = "1" return self._getter(cmd, out='param')Gets the raw temperature measurements of the sensor(s)
Returns
temp:list[float]- Temperature of each port: [port1, port2, port3, port4]
def get_sensor_type(self) ‑> list-
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def get_sensor_type(self) -> list: # NOTE: returns characters '''Retrieves the sensor type (N, K, J, etc) that was assigned \ to each port of the CN0391 Returns ------- types: list[str] Sensor type of each port: [port1, port2, port3, port4] ''' cmd = "13" return self._getter(cmd, out='str_arr')[1:] #Enable / Disable controllersRetrieves the sensor type (N, K, J, etc) that was assigned to each port of the CN0391
Returns
types:list[str]- Sensor type of each port: [port1, port2, port3, port4]
def get_target(self) ‑> list-
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def get_target(self) -> list: '''Gets the target temperatures of the PID controllers Returns ------- temp: list[float] Target temperature of each port: [port1, port2, port3, port4] ''' cmd = "2" return self._getter(cmd, out='param') # targetGets the target temperatures of the PID controllers
Returns
temp:list[float]- Target temperature of each port: [port1, port2, port3, port4]
def get_timeout(self) ‑> list-
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def get_timeout(self) -> list: '''Retrieves the time (in seconds) each port is allowed to control its temperature. Returns ------- timeouts: list[float] Time each port can be active: [port1, port2, port3, port4] ''' cmd = "18" return self._getter(cmd, out='param')Retrieves the time (in seconds) each port is allowed to control its temperature.
Returns
timeouts:list[float]- Time each port can be active: [port1, port2, port3, port4]
def get_timer(self) ‑> list-
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def get_timer(self) -> list: '''Retrieves the time (in seconds) each port has been actively controlling its temperature. Returns ------- times: list[float] Time each port has been active: [port1, port2, port3, port4] ''' cmd = "17" return self._getter(cmd, out='param')Retrieves the time (in seconds) each port has been actively controlling its temperature.
Returns
times:list[float]- Time each port has been active: [port1, port2, port3, port4]
def is_active(self) ‑> bool-
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def is_active(self) -> bool: '''Returns whether the serial connection is active (True) or disabled (False) Returns ------- is_active: bool ''' return self.serial.is_active()Returns whether the serial connection is active (True) or disabled (False)
Returns
is_active:bool
def load_json_file(self, path: str) ‑> None-
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def load_json_file(self, path:str) -> None: '''Load the JSON file containing the controller parameters Parameters ---------- path : str Path to the JSON file ''' with open(path) as outfile: self.json_data = json.load(outfile)Load the JSON file containing the controller parameters
Parameters
path:str- Path to the JSON file
def save_json_file(self, path: str) ‑> None-
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def save_json_file(self, path:str) -> None: '''Save a JSON file with the current controller parameters Parameters ---------- path : str Path to the JSON file ''' with open(path, "w") as outfile: json_object = json.dumps(self.json_data, indent=4) outfile.write(json_object) # store fileSave a JSON file with the current controller parameters
Parameters
path:str- Path to the JSON file
def send_serial_command(self, cmd: str) ‑> str-
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def send_serial_command(self, cmd:str) -> str: ''' Send an arbitrary serial command and receive a reply from the Arduino Parameters ---------- cmd: str String that contains serial command Returns ------- reply : str String that contains serial reply from the Arduino ''' return self._setter(cmd) # ================ functions ================ # privateSend an arbitrary serial command and receive a reply from the Arduino
Parameters
cmd:str- String that contains serial command
Returns
reply:str- String that contains serial reply from the Arduino
def set_ab_filter(self, ch: int, alpha: float, beta: float) ‑> None-
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def set_ab_filter(self, ch:int, alpha:float, beta:float) -> None: '''Sets the coefficients of the alpha-beta filter assigned to the PID controller \ of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} alpha: float Alpha coefficient (signal smoothing): 0 < alpha < 1 beta : float Beta coefficient (derivative smoothing): 0 < beta < 1 ''' cmd = "9," + str(ch) + "," + str(alpha) + "," + str(beta) self._setter(cmd) self._set_ab_filter_json(ch, alpha, beta) # kalmanSets the coefficients of the alpha-beta filter assigned to the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
alpha:float- Alpha coefficient (signal smoothing): 0 < alpha < 1
beta:float- Beta coefficient (derivative smoothing): 0 < beta < 1
def set_disable(self, ch: int)-
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def set_disable(self, ch:int): '''Disables the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "15," + str(ch) self._setter(cmd) self._set_disable_json(ch)Disables the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
def set_disable_all(self) ‑> None-
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def set_disable_all(self) -> None: ''' Disables the PID controller of every channel ''' cmd = "15,4" self._setter(cmd) self._set_disable_all_json()Disables the PID controller of every channel
def set_enable(self, ch: int) ‑> None-
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def set_enable(self, ch:int) -> None: '''Enables the PID controller of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "14," + str(ch) self._setter(cmd) self._set_enable_json(ch)Enables the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
def set_enable_all(self) ‑> None-
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def set_enable_all(self) -> None: ''' Enables the PID controller of every channel ''' cmd = "14,4" self._setter(cmd) self._set_enable_all_json()Enables the PID controller of every channel
def set_in_limit(self, ch: int, imax: float, imin: float) ‑> None-
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def set_in_limit(self, ch:int, imax:float, imin:float) -> None: '''Sets the target temperature limits (in Celsius) for the PID controller \ of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} imax : float Maximum allowable target temperature (in Celsius) imin : float Minimum allowable target temperature (in Celsius) ''' cmd = "7," + str(ch) + "," + str(imax) + "," + str(imin) self._setter(cmd) self._set_in_limit_json(ch, imax, imin) # Filters # alpha-betaSets the target temperature limits (in Celsius) for the PID controller of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
imax:float- Maximum allowable target temperature (in Celsius)
imin:float- Minimum allowable target temperature (in Celsius)
def set_json_coefficients(self) ‑> None-
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def set_json_coefficients(self) -> None: '''Load the coefficients contained in the JSON file. Requires Calling `load_json_file` \ beforehand. Will not work otherwise. ''' # retrieve data parameters = self.json_data["parameters"] for channel, param in enumerate(parameters): # load paramters kp = param["kp"] ki = param["ki"] kd = param["kd"] alpha = param["alpha"] beta = param["beta"] error = param["error"] noise = param["noise"] imax = param["imax"] imin = param["imin"] timeout = param["timeout"] enable = param["enable"] # write state self.set_pid(channel, kp, ki, kd) self.set_ab_filter(channel, alpha, beta) self.set_k_filter(channel, error, noise) self.set_in_limit(channel, imax, imin) self.set_timeout(channel, timeout) if enable: self.set_enable(channel)Load the coefficients contained in the JSON file. Requires Calling
load_json_filebeforehand. Will not work otherwise. def set_k_filter(self, ch: int, error: float, noise: float) ‑> None-
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def set_k_filter(self, ch:int, error:float, noise:float) -> None: '''Sets the coefficients of the kalman filter assigned to the temperature \ measurements of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} error : float Standard deviation of the measurement. Must be positive. noise : float Process noise parameter. A smaller value smooths the data at the cost of lag: \ 0 < noise < 1 ''' cmd = "11," + str(ch) + "," + str(error) + "," + str(noise) self._setter(cmd) self._set_k_filter_json(ch, error, noise)Sets the coefficients of the kalman filter assigned to the temperature measurements of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
error:float- Standard deviation of the measurement. Must be positive.
noise:float- Process noise parameter. A smaller value smooths the data at the cost of lag: 0 < noise < 1
def set_k_filter_state(self, ch: int, value: float) ‑> None-
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def set_k_filter_state(self, ch:int, value:float) -> None: '''Sets state of the kalman filter assigned to specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} value : float Value of the filter (in Celsius) ''' cmd = "12," + str(ch) + "," + str(value) self._setter(cmd) # SensorsSets state of the kalman filter assigned to specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
value:float- Value of the filter (in Celsius)
def set_pid(self, ch: int, kp: float, ki: float, kd: float) ‑> None-
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def set_pid(self, ch:int, kp:float, ki:float, kd:float) -> None: '''Sets the PID coefficients of a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} kp : float Proportional coefficient ki : float Integral coefficient kd : float Derivative coefficient ''' cmd = "5," + str(ch) + "," + str(kp) + "," + str(ki) + "," + str(kd) self._setter(cmd) self._set_pid_json(ch, kp, ki, kd) # input limitsSets the PID coefficients of a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
kp:float- Proportional coefficient
ki:float- Integral coefficient
kd:float- Derivative coefficient
def set_target(self, ch: int, target: float) ‑> None-
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def set_target(self, ch:int, target:float) -> None: '''Sets the target temperature of the PID controller of a specific port Parameters ---------- ch : int Channel of the temperature shield. Options are: {0, 1, 2, 3} target : float Target temperature (in Celsius) for the PID controller of specified channel ''' cmd = "3," + str(ch) + "," + str(target) self._setter(cmd)Sets the target temperature of the PID controller of a specific port
Parameters
ch:int- Channel of the temperature shield. Options are: {0, 1, 2, 3}
target:float- Target temperature (in Celsius) for the PID controller of specified channel
def set_target_all(self, targ0: float, targ1: float, targ2: float, targ3: float) ‑> None-
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def set_target_all(self, targ0:float, targ1:float, targ2:float, targ3:float) -> None: '''Sets the target temperature for all PID controllers simultaneously Parameters ---------- targ0 : float Target temperature (in Celsius) for the PID controller of channel 0 targ1 : float Target temperature (in Celsius) for the PID controller of channel 1 targ2 : float Target temperature (in Celsius) for the PID controller of channel 2 targ3 : float Target temperature (in Celsius) for the PID controller of channel 3 ''' cmd = "3,4," + str(targ0) + "," + str(targ1) + "," + str(targ2) + "," + str(targ3) self._setter(cmd) # PID controllerSets the target temperature for all PID controllers simultaneously
Parameters
targ0:float- Target temperature (in Celsius) for the PID controller of channel 0
targ1:float- Target temperature (in Celsius) for the PID controller of channel 1
targ2:float- Target temperature (in Celsius) for the PID controller of channel 2
targ3:float- Target temperature (in Celsius) for the PID controller of channel 3
def set_timeout(self, ch: int, time: float) ‑> None-
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def set_timeout(self, ch:int, time:float) -> None: '''Sets the time a PID controller will be enabled for a specific channel Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} time : float Time (in seconds) the controller will be active ''' cmd = "19," + str(ch) + "," + str(time) self._setter(cmd) self._set_timeout_json(ch, time)Sets the time a PID controller will be enabled for a specific channel
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
time:float- Time (in seconds) the controller will be active
def set_timeout_inf(self, ch: int) ‑> None-
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def set_timeout_inf(self, ch:int) -> None: '''Allow the PID controller at a specific port to run forever Parameters ---------- ch : int Channel of the Temperature shield. Options are: {0, 1, 2, 3} ''' cmd = "19," + str(ch) + ",-1" # send value for infinite time. See `Commands.h` self._setter(cmd) self._set_timeout_inf_json(ch)Allow the PID controller at a specific port to run forever
Parameters
ch:int- Channel of the Temperature shield. Options are: {0, 1, 2, 3}
def setup(self, type0: str = None, type1: str = None, type2: str = None, type3: str = None) ‑> None-
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def setup(self, type0:str=None, type1:str=None, type2:str=None, type3:str=None) -> None: '''Assigns the sensor types for each port and performs an initial calibration of the temperature sensors. Defaults to pre-programmed sensor types if no parameters are provided. Parameters ---------- type0 : str Sensor type (N, K, J, etc) of channel 0. Must be a character. type1 : str Same as before but for channel 1 type2 : str Same as before but for channel 2 type3 : str Same as before but for channel 3 ''' # Custom types if type0 and type1 and type2 and type3: cmd = str(type0) + str(type1) + str(type2) + str(type3) self._setup(cmd) # Default types else: self._setup('0') # store types self._set_sensor_type_json()Assigns the sensor types for each port and performs an initial calibration of the temperature sensors. Defaults to pre-programmed sensor types if no parameters are provided.
Parameters
type0:str- Sensor type (N, K, J, etc) of channel 0. Must be a character.
type1:str- Same as before but for channel 1
type2:str- Same as before but for channel 2
type3:str- Same as before but for channel 3