diff --git a/ADwinProII/labscript_devices_ADwin_modules.py b/ADwinProII/labscript_devices_ADwin_modules.py
index 46385ab1763d254182b8e575699dc8f8d443a805..60a86ecbf7946fef5e181302607bd42e9231a5fe 100644
--- a/ADwinProII/labscript_devices_ADwin_modules.py
+++ b/ADwinProII/labscript_devices_ADwin_modules.py
@@ -131,7 +131,7 @@ class ADwinAnalogOut(AnalogOut):
self.PID_max = limits[1]
- def set_PID(self,t,pid_no,start="last"):
+ def set_PID(self,t,pid_no,set_output=0):
"""(De-)activate PID for analog output, or change settings
Parameters
@@ -141,25 +141,34 @@ class ADwinAnalogOut(AnalogOut):
pid_no : int or `AnalogIn` or None
Channel of analog input for error siganl of PID feedback.
If `None` PID is deactivated.
- start : float or "last"
- Inital value of the output when the PID is turned on, assigned to the I part.
- If start="last" when the PID is turned on, the I value from the PID earlier
- in the shot is kept. If start="last" when the PID is turned off, the last output
- value is kept as "set_target".
+ set_value : float or "last"
+ When the PID is turned on, 'set_value' is the initially chosen output value,
+ 'last' means that the I value from the previous PID is taken.
+ When the PID is turned off, 'set_value' is programmed as the new output/target value,
+ 'last' means that the output from the PID loop is kept as 'set_target'.
"""
+ # Error check of bounds for set_output
+ if set_output!="last":
+ if set_output<self.PID_min or set_output>self.PID_max:
+ raise LabscriptError(
+ f"{self.name}: PID 'set_output={set_output}' must be within ({self.PID_min},{self.PID_max})"
+ )
# TURN OFF PID
if pid_no is None:
self.PID[t] = {
"PID_channel": 0,
- "start": start,
+ "start": set_output,
}
+ # If we don't keep the PID output, set the output to the set_value
+ if set_output!="last":
+ self.constant(t,set_output)
# TURN ON PID
elif (isinstance(pid_no,AnalogIn) and isinstance(pid_no.parent_device,_ADwinCard)) \
or isinstance(pid_no,int):
self.PID[t] = {
"PID_channel": pid_no,
- "start": start,
+ "start": set_output,
}
# TODO: Do we need scale factors for setting a PID with integer?
else:
@@ -203,19 +212,17 @@ class ADwinAnalogOut(AnalogOut):
def add_instruction(self,time,instruction,units=None):
# Overwrite Output.add_instruction without limit check, becasue the value can be off-limits when this is the target value of the PID
- # TODO / WARNING: THIS IS QUITE HACKY AND COULD LEAD TO OFF-LIMIT VALUES NOT NOTICED
- # (the actual limits are also checked in the ADwin, so the actual output should be always within limits!)
limits_temp = self.limits
- self.limits = (-10,10)
+ if hasattr(self,"pid_no"):
+ self.limits = (-10,10)
super().add_instruction(time,instruction,units)
self.limits = limits_temp
def expand_timeseries(self,all_times,flat_all_times_len):
# Overwrite Output.add_instruction without limit check, becasue the value can be off-limits when this is the target value of the PID
- # TODO / WARNING: THIS IS QUITE HACKY AND COULD LEAD TO OFF-LIMIT VALUES NOT NOTICED
- # (the actual limits are also checked in the ADwin, so the actual output should be always within limits!)
limits_temp = self.limits
- self.limits = (-10,10)
+ if hasattr(self,"pid_no"):
+ self.limits = (-10,10)
super().expand_timeseries(all_times,flat_all_times_len)
self.limits = limits_temp
@@ -353,6 +360,38 @@ class ADwinAO8(_ADwinCard):
raise LabscriptError(
f"The ramp sample rate ({rate_kHz:.0f}kHz) of {output.name} must not be faster than ADwin ({ADwin_rate_kHz:.0f}kHz)."
)
+
+ # Check limits of output, but only when PID is NOT enabled (becasue then the target can be out of limits)
+ # Get all times when PID is not enabled
+ PID = output.PID.copy()
+ if 0 not in PID:
+ # Because 'np.digitize' determines the bins, we also have to make sure t=0 is included.
+ # If output.PID does not have the key t=0, then the PID is disabled in the beginning.
+ PID[0] = {"PID_channel":0,"start":0}
+ PID_times = np.array(list(PID.keys()))
+ PID_times.sort()
+ PID_off_times = []
+ # For each output value, digitize gets the next highest time in PID_times.
+ # Using '-1' to get next lowest time.
+ for i_out,i_PID in enumerate(np.digitize(output.all_times, PID_times)-1):
+ t = PID_times[i_PID]
+ if PID[t]["PID_channel"]==0:
+ # When we turn the PID off but keep the last output, we make sure that
+ # - at least once in the end the output is (re)set, otherwise the get_final_values() in the Worker is wrong,
+ # - don't try to also set the target value at the same time, as this would overwrite the target in the ADwin with the PID output.
+ if PID[t]["start"]=="last":
+ if i_out+1==len(output.all_times):
+ raise LabscriptError(f"{output.name}: You must set the output at the end after turning off PID with 'last'.")
+ elif output.all_times[i_out] == t:
+ raise LabscriptError(f"{output.name}: Don't turn off PID with persitent value ('last') and also set new value.")
+ PID_off_times.append(i_out)
+ PID_off_outputs = output.raw_output[PID_off_times]
+ if np.any(PID_off_outputs < output.limits[0]) or np.any(PID_off_outputs > output.limits[1]):
+ raise LabscriptError(
+ f"Limits of {output.name} (when PID is off) must be in {output.limits}, " +
+ f"you try to set ({PID_off_outputs.min()},{PID_off_outputs.max()}) " +
+ f"or turning off the PID with target value beyond limits.")
+
# Check if the PID channel is allowed
if np.any(self.PID_table["PID_channel"] > PIDNO):
raise LabscriptError(f"ADwin: Setting the PID channel to more than {PIDNO} is not possible!")
@@ -406,14 +445,6 @@ class ADwinAO8(_ADwinCard):
output.raw_output[indices==i+1] *= output.PID[t]['PID_channel'].scale_factor
elif isinstance(output.PID[t]['PID_channel'],int):
PID_array["PID_channel"][i] = output.PID[t]['PID_channel']
- # If PID_channel[t]=None, there are zeros in the PID_array
-
- # PID_array["PID_P"][i] = output.PID[t]['P']
- # PID_array["PID_I"][i] = output.PID[t]['I']
- # PID_array["PID_D"][i] = output.PID[t]['D']
- # limits = output.PID[t]['limits']
- # PID_array["PID_min"][i] = ADC(limits[0],self.resolution_bits,self.min_V,self.max_V)
- # PID_array["PID_max"][i] = ADC(limits[1],self.resolution_bits,self.min_V,self.max_V)
if output.PID[t]["start"]=="last":
# When we want to use the previous value during the shot,
# we use a value that's out of the 16 bit ADC range to identify.