Enumerations

class quanser.hardware.enumerations.AnalogInputConfiguration

The configuration of the analog inputs.

DIFF = 2

The input is differential.

NRSE = 1

The input is non-referenced single-ended.

PDIFF = 3

The input is pseudo-differential.

RSE = 0

The input is referenced single-ended.

class quanser.hardware.enumerations.BufferOverflowMode

The buffer overflow mode for HIL tasks.

DISCARD_ON_OVERFLOW = 2

Discard new samples on buffer overflow.

ERROR_ON_OVERFLOW = 0

Return an error on buffer overflow.

OVERWRITE_ON_OVERFLOW = 1

Overwrite old samples on buffer overflow.

SYNCHRONIZED = 4

Provides complete buffer synchronization (not supported by hardware cards. Only for use by simulated cards).

WAIT_ON_OVERFLOW = 3

Waits on buffer overflow for space to become available (not supported by hardware cards. Only for use by simulated cards).

class quanser.hardware.enumerations.Clock

The clocks used to time operations.

HARDWARE_CLOCK_0 = 0

Hardware clock 0

HARDWARE_CLOCK_1 = 1

Hardware clock 1

HARDWARE_CLOCK_10 = 10

Hardware clock 10

HARDWARE_CLOCK_11 = 11

Hardware clock 11

HARDWARE_CLOCK_12 = 12

Hardware clock 12

HARDWARE_CLOCK_13 = 13

Hardware clock 13

HARDWARE_CLOCK_14 = 14

Hardware clock 14

HARDWARE_CLOCK_15 = 15

Hardware clock 15

HARDWARE_CLOCK_16 = 16

Hardware clock 16

HARDWARE_CLOCK_17 = 17

Hardware clock 17

HARDWARE_CLOCK_18 = 18

Hardware clock 18

HARDWARE_CLOCK_19 = 19

Hardware clock 19

HARDWARE_CLOCK_2 = 2

Hardware clock 2

HARDWARE_CLOCK_3 = 3

Hardware clock 3

HARDWARE_CLOCK_4 = 4

Hardware clock 4

HARDWARE_CLOCK_5 = 5

Hardware clock 5

HARDWARE_CLOCK_6 = 6

Hardware clock 6

HARDWARE_CLOCK_7 = 7

Hardware clock 7

HARDWARE_CLOCK_8 = 8

Hardware clock 8

HARDWARE_CLOCK_9 = 9

Hardware clock 9

SYSTEM_CLOCK_1 = -1

System clock 1

SYSTEM_CLOCK_2 = -2

System clock 2

SYSTEM_CLOCK_3 = -3

System clock 3

SYSTEM_CLOCK_4 = -4

System clock 4

class quanser.hardware.enumerations.ClockMode

The mode for the hardware clocks.

ENCODER = 2

Use the hardware clock as an encoder input.

PWM = 1

Use the hardware clock as a PWM output.

TIMEBASE = 0

Allow the clock to be used as a hardware timebase.

class quanser.hardware.enumerations.DigitalConfiguration

The configuration of a digital output.

OPEN_COLLECTOR = 0

Set the digital output to be open-collector (only driven low).

TOTEM_POLE = 1

Set the digital output to be a totem pole output (driven high and low).

class quanser.hardware.enumerations.DigitalState

The state that the digital outputs will be set to if the watchdog expires.

HIGH = 1

Set the digital output high (Vcc).

LOW = 0

Set the digital output low (ground).

NO_CHANGE = 3

Do not change the expiration state of this digital output.

TRISTATE = 2

Set the digital output tristate.

class quanser.hardware.enumerations.DoubleProperty

The common or board-specific double property.

HIQ_SERVO_FINAL_VALUE_CH_0 = 128

The servo final value for channel 0 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_1 = 129

The servo final value for channel 1 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_2 = 130

The servo final value for channel 2 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_3 = 131

The servo final value for channel 3 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_4 = 132

The servo final value for channel 4 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_5 = 133

The servo final value for channel 5 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_6 = 134

The servo final value for channel 6 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_7 = 135

The servo final value for channel 7 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_8 = 136

The servo final value for channel 8 on the HIQ board.

HIQ_SERVO_FINAL_VALUE_CH_9 = 137

The servo final value for channel 9 on the HIQ board.

KOBUKI_D_GAIN = 130

The D gain for the KOBUKI board.

KOBUKI_I_GAIN = 129

The I gain for the KOBUKI board.

KOBUKI_P_GAIN = 128

The P gain for the KOBUKI board.

class quanser.hardware.enumerations.EncoderQuadratureMode

The quadrature mode of the encoder inputs on the card.

NONE = 0

No quadrature. Inputs are count and direction.

X1 = 1

1X. Inputs are A and B channels.

X2 = 2

2X. Inputs are A and B channels.

X4 = 4

4X. Inputs are A and B channels.

class quanser.hardware.enumerations.IntegerProperty

The common or board-specific integer property.

BUILD = 6

The build number of the board. For example, if the version is 2.7.1.9 then the build number is 1.

DATE = 8

The date the board was designed or manufactured, in days, since January 1, 2000.

FIRMWARE_BUILD = 12

The build version number of the board’s firmware.

FIRMWARE_DATE = 14

The date the board’s firmware was designed or created, in days, since January 1, 2000.

FIRMWARE_MAJOR_VERSION = 10

The major version number of the board’s firmware.

FIRMWARE_MINOR_VERSION = 11

The minor version number of the board’s firmware.

FIRMWARE_REVISION = 13

The revision version number of the board’s firmware.

FIRMWARE_TIME = 15

The date the board’s firmware was designed or created in milliseconds.

HIQ_BLDC_MAX_DUTY_CYCLE = 132

The BLDC max duty cycle of the HIQ board.

HIQ_BLDC_MAX_PWM_TICKS = 130

The BLDC max PWM ticks of the HIQ board.

HIQ_BLDC_MIN_DUTY_CYCLE = 133

The BLDC min duty cycle of the HIQ board.

HIQ_BLDC_POLE_PAIRS = 134

The BLDC pole pairs of the HIQ board.

HIQ_BLDC_RAMPUP_DELAY = 131

The BLDC ramp up delay of the HIQ board.

HIQ_GYRO_RANGE = 128

The range of the gyro for the HIQ board.

HIQ_MAGNETOMETER_MODE = 129

The magnetometer mode of the HIQ board.

HIQ_PWM_MODE = 135

The PWM mode of the HIQ board.

KOBUKI_UDID0 = 128

UDID0 for the KOBUKI board.

KOBUKI_UDID1 = 129

UDID1 for the KOBUKI board.

KOBUKI_UDID2 = 130

UDID2 for the KOBUKI board.

MAJOR_VERSION = 4

The major version number of the board. For example, if the version is 2.7.1.9 then the major version is 2.

MINOR_VERSION = 5

The minor version number of the board. For example, if the version is 2.7.1.9 then the minor version is 7.

NUMBER_OF_ANALOG_INPUTS = 16

The number of analog input channels the board supports.

NUMBER_OF_ANALOG_OUTPUTS = 20

The number of analog output channels the board supports.

NUMBER_OF_CLOCKS = 24

The number of hardware clocks the board supports.

NUMBER_OF_DIGITAL_INPUTS = 18

The number of digital input channels the board supports.

NUMBER_OF_DIGITAL_OUTPUTS = 22

The number of digital output channels the board supports.

NUMBER_OF_ENCODER_INPUTS = 17

The number of encoder input channels the board supports.

NUMBER_OF_INTERRUPTS = 25

The number of interrupts the board supports.

NUMBER_OF_OTHER_INPUTS = 19

The number of other input channels the board supports.

NUMBER_OF_OTHER_OUTPUTS = 23

The number of other output channels the board supports.

NUMBER_OF_PWM_OUTPUTS = 21

The number of PWM output channels the board supports.

PRODUCT_ID = 1

The product identifier of the board.

QBUS_NUM_MODULES = 128

The number of modules for the QBUS board.

REVISION = 7

The revision number of the board. For example, if the version is 2.7.1.9 then the revision number is 9.

SUBPRODUCT_ID = 3

The subproduct identifier of the board.

SUBVENDOR_ID = 2

The identifier of the subvendor associated with the board.

TIME = 9

The time the board was designed or manufactured in milliseconds.

VENDOR_ID = 0

The identifier of the vendor associated with the board.

class quanser.hardware.enumerations.PWMAlignment

The alignment of a PWM output.

CENTER_ALIGNED = 2

The PWM output is aligned to the center of the PWM period.

LEADING_EDGE_ALIGNED = 0

The PWM output is aligned to the leading edge of the PWM period.

TRAILING_EDGE_ALIGNED = 1

The PWM output is aligned to the trailing edge of the PWM period.

class quanser.hardware.enumerations.PWMConfiguration

The configuration of a PWM output.

BIPOLAR = 1

The PWM output is bipolar. in this case, an analog output is typically used for the PWM signal.

COMPLEMENTARY = 3

The PWM output is paired with another output of opposite polarity to produce coordinated outputs separated by a programmable deadband.

PAIRED = 2

The PWM output is paired with another output to produce coordinated outputs separated by a programmable deadband.

UNIPOLAR = 0

The PWM output is unipolar.

class quanser.hardware.enumerations.PWMMode

The mode of a PWM output.

DUTY_CYCLE = 0

Values written to a PWM output are interpreted as duty cycles. Duty cycle values must be fractions between 0.0 and 1.0, where 0.0 indicates 0% and 1.0 denotes 100%. The value may be signed for those boards which support bidirectional PWM outputs. The PWM frequency is fixed. The PWM frequency is set using set_pwm_frequency.

ENCODER_EMULATION = 5

PWM outputs vary in frequency by specifying counts/sec. Paired/complementary signals are 90 degrees out of phase.

FREQUENCY = 1

Values written to a PWM output are interpreted as frequencies. Frequencies must be positive. The PWM duty cycle is fixed. The PWM duty cycle is set using set_pwm_duty_cycle.

ONE_SHOT = 3

PWM outputs vary in duty cycle. Only a single pulse generated per write.

PERIOD = 2

Values written to a PWM output are interpreted as periods. Periods must be positive. The PWM duty cycle is fixed. The PWM duty cycle is set using set_pwm_duty_cycle.

RAW = 6

PWM outputs vary in duty cycle by raw board-specific values (used for DSHOT, for example, to allow throttle, telemetry, and checksum to be encoded in a PWM output).

TIME = 4

PWM outputs vary in duty cycle by specifying the active pulse time.

class quanser.hardware.enumerations.PWMPolarity

The alignment of a PWM output.

ACTIVE_HIGH = 1

The PWM output is active high.

ACTIVE_LOW = 0

The PWM output is active low.

class quanser.hardware.enumerations.StringProperty

The common or board-specific string property.

FIRMWARE_VERSION = 4

The firmware version of the board. This value may not match the integer properties, as some firmware versions are better expressed as a string.

MANUFACTURER = 0

The name of the manufacturer of the board.

MODEL_NAME = 2

The model name for the board.

PRODUCT_NAME = 1

The product name for the board.

SERIAL_NUMBER = 3

The serial number of the board.