Write Functions

HIL.write_analog(channels, num_channels, buffer)

Writes to analog outputs immediately. The function does not return until the data has been written.

Parameters

  • channels (array_like) – An array containing the channel numbers of the analog outputs to be written.

  • num_channels (int) – The number of channels specified in the channels array.

  • buffer (array_like) – An array containing the voltage values to write to the analog outputs. The array must contain num_channels elements. Each element in the buffer array corresponds to the same element in the channels array.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Examples

Write to the first four analog output channels.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = array('I', [0, 1, 2, 3])
>>>   num_channels = len(channels)
>>>   buffer = array('d', [0.5, 1.5, 2.5, 3.5])
>>>   card.write_analog(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = np.array([0, 1, 2, 3], dtype=np.uint32)
>>>   num_channels = len(channels)
>>>   buffer = np.array([0.5, 1.5, 2.5, 3.5], dtype=np.float64)
>>>   card.write_analog(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()
HIL.write_analog_codes(channels, num_channels, buffer)

Writes to the specified analog output channels immediately using raw D/A converter values. The function does not return until the data has been written.

Parameters

  • channels (array_like) – An array containing the channel numbers of the analog outputs to be written.

  • num_channels (int) – The number of channels specified in the channels array.

  • buffer (array_like) – An array containing the raw D/A converter values to write to the analog outputs. The array must contain num_channels elements. Each element in the buffer array corresponds to the same element in the channels array.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Examples

Write to the first four analog output channels using raw D/A converter values.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = array('I', [0, 1, 2, 3])
>>>   num_channels = len(channels)
>>>   buffer = array('i', [0x000, 0x3ff, 0x5ff, 0x7ff])
>>>   card.write_analog_codes(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = np.array([0, 1, 2, 3], dtype=np.uint32)
>>>   num_channels = len(channels)
>>>   buffer = np.array([0x000, 0x3ff, 0x5ff, 0x7ff], dtype=np.int32)
>>>   card.write_analog_codes(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()
HIL.write_pwm(channels, num_channels, buffer)

Writes to specified PWM output channels immediately. The function does not return until the data has been written.

Parameters

  • channels (array_like) – An array containing the channel numbers of the PWM outputs to be written.

  • num_channels (int) – The number of channels specified in the channels array.

  • buffer (array_like) – An array containing the values to write to the PWM outputs. How these values are interpreted depends on the PWM mode. The PWM mode is configured using the hil_set_pwm_mode function. The array must contain num_channels elements. Each element in the buffer array corresponds to the same element in the channels array.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Examples

Write to the first four PWM output channels.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = array('I', [0, 1, 2, 3])
>>>   num_channels = len(channels)
>>>   buffer = array('d', [0.0, 0.3, 0.7, 1.0])
>>>   card.write_pwm(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = np.array([0, 1, 2, 3], dtype=np.uint32)
>>>   num_channels = len(channels)
>>>   buffer = np.array([0.0, 0.3, 0.7, 1.0], dtype=np.float64)
>>>   card.write_pwm(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()
HIL.write_digital(channels, num_channels, buffer)

Writes to digital outputs immediately. The function does not return until the data has been written.

Parameters

  • channels (array_like) – An array containing the channel numbers of the digital outputs to be written.

  • num_channels (int) – The number of channels specified in the channels array.

  • buffer (array_like) – An array containing the binary values to write to the digital outputs. The array must contain num_channels elements. Each element in the buffer array corresponds to the same element in the channels array.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Examples

Write to the first four PWM output channels.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = array('I', [0, 1, 2, 3])
>>>   num_channels = len(channels)
>>>   buffer = array('b', [0, 1, 1, 0])
>>>   card.write_digital(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = np.array([0, 1, 2, 3], dtype=np.uint32)
>>>   num_channels = len(channels)
>>>   buffer = np.array([0, 1, 1, 0], dtype=np.int8)
>>>   card.write_digital(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()
HIL.write_other(channels, num_channels, buffer)

Writes to the specified other output channels immediately. The function does not return until the data has been written.

Parameters

  • channels (array_like) – An array containing the channel numbers of the other outputs to be written.

  • num_channels (int) – The number of channels specified in the channels array.

  • buffer (array_like) – An array containing the values to write to the other outputs. The array must contain num_channels elements. Each element in the buffer array corresponds to the same element in the channels array.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Examples

Write to the first two other output channels.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = array('I', [0, 1])
>>>   num_channels = len(channels)
>>>   buffer = array('d', [1.0, 0.0])
>>>   card.write_other(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   channels = np.array([0, 1], dtype=np.uint32)
>>>   num_channels = len(channels)
>>>   buffer = np.array([1.0, 0.0], dtype=np.float64)
>>>   card.write_other(channels, num_channels, buffer)
>>>   # ...
...
>>> finally:
>>>   card.close()
HIL.write(analog_channels, num_analog_channels, pwm_channels, num_pwm_channels, digital_channels, num_digital_channels, other_channels, num_other_channels, analog_buffer, pwm_buffer, digital_buffer, other_buffer)

Writes to the specified output channels immediately. The function does not return until the data has been written.

The interpretation of the PWM samples to be written depends upon the PWM mode. Typically, the data is interpreted as a duty cycle, in which a magnitude of 0.0 denotes a 0% duty cycle and magnitude of 1.0 indicates a 100% duty cycle. The sign determines the polarity of the output for those boards supporting bidirectional PWM outputs. However, other PWM modes are possible with some boards. Refer to the set_pwm_mode function for details.

Parameters

  • analog_channels (array_like or None) – An array containing the channel numbers of the analog outputs to be written. If no analog channels are required, then this parameter may be None. In this case, num_analog_channels must be zero.

  • num_analog_channels (int) – The number of channels specified in the analog_channels array. This parameter may be zero.

  • pwm_channels (array_like or None) – An array containing the channel numbers of the PWM outputs to be written. If no PWM channels are required, then this parameter may be None. In this case, num_pwm_channels must be zero.

  • num_pwm_channels (int) – The number of channels specified in the pwm_channels array. This parameter may be zero.

  • digital_channels (array_like or None) – An array containing the channel numbers of the digital outputs to be written. If no digital channels are required, then this parameter may be None. In this case, num_digital_channels must be zero.

  • num_digital_channels (int) – The number of channels specified in the digital_channels array. This parameter may be zero.

  • other_channels (array_like or None) – An array containing the channel numbers of the other outputs to be written. If no other channels are required, then this parameter may be None. In this case, num_other_channels must be zero.

  • num_other_channels (int) – The number of channels specified in the other_channels array. This parameter may be zero.

  • analog_buffer (array_like or None) – An array containing the voltage values to write to the analog outputs. The array must contain num_analog_channels elements. Each element in the analog_buffer array corresponds to the same element in the analog_channels array. If no analog channels were specified, then this parameter may be None.

  • pwm_buffer (array_like or None) – An array containing the values to write to the PWM outputs. How these values are interpreted depends on the PWM mode. The PWM mode is configured using the set_pwm_mode function. The array must contain num_pwm_channels elements. Each element in the pwm_buffer array corresponds to the same element in the pwm_channels array. If no PWM channels were specified, then this parameter may be None.

  • digital_buffer (array_like or None) – An array containing the binary values to write to the digital outputs. The array must contain num_digital_channels elements. Each element in the digital_buffer array corresponds to the same element in the digital_channels array. If no digital channels were specified, then this parameter may be None.

  • other_buffer (array_like or None) – An array containing the values to write to the other outputs. The array must contain num_other_channels elements. Each element in the other_buffer array corresponds to the same element in the other_channels array. If no other channels were specified, then this parameter may be None.

Raises

HILError – On non-zero return code. A suitable error message may be retrieved using get_error_message.

Warning

Many cards allow the digital I/O lines to be programmed as inputs or outputs. The digital I/O lines are configured as inputs or outputs using the set_digital_directions function. All the channels which will be used as digital outputs must be configured as outputs using this function. Failure to configure the digital I/O may result in the write function failing to write those outputs.

Examples

Write to two analog output channels, two PWM output channels, and four digital output channels.

Using array:

>>> from array import array
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   analog_channels = array('I', [0, 1])
>>>   pwm_channels = array('I', [0, 1])
>>>   digital_channels = array('I', [0, 1, 2, 3])
>>>   num_analog_channels = len(analog_channels)
>>>   num_pwm_channels = len(pwm_channels)
>>>   num_digital_channels = len(digital_channels)
>>>   analog_buffer = array('d', [0.5, -0.5])
>>>   pwm_buffer = array('d', [-1000.0, 1000.0])
>>>   digital_buffer = array('b', [0, 1, 0, 1])
>>>   card.write(analog_channels, num_analog_channels,
...              pwm_channels, num_pwm_channels,
...              digital_channels, num_digital_channels,
...              None, 0,
...              analog_buffer,
...              pwm_buffer,
...              digital_buffer,
...              None)
>>>   # ...
...
>>> finally:
>>>   card.close()

Using numpy:

>>> import numpy as np
>>> from quanser.hardware import HIL
>>> card = HIL("q8_usb", "0")
>>> try:
>>>   analog_channels = np.array([0, 1], dtype=np.uint32)
>>>   pwm_channels = np.array([0, 1], dtype=np.uint32)
>>>   digital_channels = np.array([0, 1, 2, 3], dtype=np.uint32)
>>>   num_analog_channels = len(analog_channels)
>>>   num_pwm_channels = len(pwm_channels)
>>>   num_digital_channels = len(digital_channels)
>>>   analog_buffer = np.array([0.5, -0.5], dtype=np.float64)
>>>   pwm_buffer = np.array([-1000.0, 1000.0], dtype=np.float64)
>>>   digital_buffer = np.array([0, 1, 0, 1], dtype=np.int8)
>>>   card.write(analog_channels, num_analog_channels,
...              pwm_channels, num_pwm_channels,
...              digital_channels, num_digital_channels,
...              None, 0,
...              analog_buffer,
...              pwm_buffer,
...              digital_buffer,
...              None)
>>>   # ...
...
>>> finally:
>>>   card.close()