Added starting value to ADwin PID controls

ADwinProII/blacs_workers.py

@@ -169,6 +169,7 @@ class ADwinProIIWorker(Worker):
                 self.adw.SetData_Float(PIDs["PID_D"], 27, 1, PIDs.shape[0])
                 self.adw.SetData_Long(PIDs["PID_min"], 28, 1, PIDs.shape[0])
                 self.adw.SetData_Long(PIDs["PID_max"], 29, 1, PIDs.shape[0])
+                self.adw.SetData_Long(PIDs["PID_start"], 30, 1, PIDs.shape[0])
             AIN = group["ANALOG_IN/TIMES"]
             if fresh or not np.array_equal(AIN[:],self.smart_cache["AIN"]):
                 print("AIN programmed.")

ADwinProII/labscript_devices_ADwin_modules.py

@@ -97,7 +97,7 @@ class ADwinAnalogOut(AnalogOut):
         self.PID = {} # instructions for PID settings
 
 
-    def set_PID(self,t,PID_AnalogIn,P=0,I=0,D=0,limits=None):
+    def set_PID(self,t,PID_AnalogIn,P=0,I=0,D=0,limits=None, start=0):
         """(De-)activate PID for analog output, or change settings
         
         Parameters
@@ -115,12 +115,20 @@ class ADwinAnalogOut(AnalogOut):
             Differential parameter
         limits : tuple of float, optional
             Limits for output voltage, defaults to output limits
+        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".
         """
 
         if limits is None:
             # Use the Output limits if there are none specified here.
             limits = self.limits
-
+        if limits[0]<self.limits[0] or limits[1]>self.limits[1]:
+            raise LabscriptError(f"Limits of {self.name} with PID must not be larger than channel limits {self.limits}!")
+        
+        # TURN OFF PID
         if PID_AnalogIn is None:
             self.PID[t] = {
                 "PID_channel": 0,
@@ -128,7 +136,9 @@ class ADwinAnalogOut(AnalogOut):
                 "I": I,
                 "D": D,
                 "limits": limits,
+                "start": start,
             }
+        # TURN ON PID
         elif (isinstance(PID_AnalogIn,AnalogIn) and isinstance(PID_AnalogIn.parent_device,_ADwinCard)) \
                 or isinstance(PID_AnalogIn,int):
             self.PID[t] = {
@@ -137,6 +147,7 @@ class ADwinAnalogOut(AnalogOut):
                 "I": I,
                 "D": D,
                 "limits": limits,
+                "start": start,
             }
             # TODO: Do we need scale factors for setting a PID with integer?
         else:
@@ -344,7 +355,7 @@ class ADwinAO8(_ADwinCard):
         output_dtypes = [("n_cycles",np.int32),("channel",np.int32),("value",np.int32)]
         PID_dtypes = [
             ("n_cycles",np.int32),("AOUT_channel",np.int32),("PID_channel",np.int32),
-            ("PID_P",np.float64),("PID_I",np.float64),("PID_D",np.float64),("PID_min",np.int32),("PID_max",np.int32)
+            ("PID_P",np.float64),("PID_I",np.float64),("PID_D",np.float64),("PID_min",np.int32),("PID_max",np.int32),("PID_start",np.int32)
             ]
         outputs = []
         PID_channels = []
@@ -380,6 +391,12 @@ class ADwinAO8(_ADwinCard):
                     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.
+                        PID_array["PID_start"][i] = 100_000
+                    else:
+                        PID_array["PID_start"][i] = ADC(output.PID[t]['start'],self.resolution_bits,self.min_V,self.max_V)
             # The ADwin has 16 bit output resolution, so we quantize the Voltage to the right values
             quantized_output = ADC(output.raw_output,self.resolution_bits,self.min_V,self.max_V)
             out = np.empty(quantized_output.size,dtype=output_dtypes)