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.