tecgihan_driver.dma03_driver module

class tecgihan_driver.dma03_driver.DMA03Driver

Bases: object

Serial port I/O class for DMA-03 for Robot amplifier.

class tecgihan_driver.dma03_driver.DMA03DriverForRobot(debug=False, frequency=1000, init_zero=False, timeout=1.0, serial_number=None, location=None)

Bases: DMA03Driver

Command I/O class for DMA-03 for Robot amplifier.

close()

Close the serial port.

Close the serial port after stopping the amplifier and the data conversion process.

get_data()

Get engineering data.

Returns:
Tuple[float, float, float, float]:

  • float: Time of reading data from the serial port.

  • float: Value of X-axis force.

  • float: Value of Y-axis force.

  • float: Value of Z-axis force.

get_for_robot()

Get the amplifier has functions for robot usage or not.

Returns:
Tuple[str, bool]:

  • str: Reply for the command.

  • bool: True if for Robot, False if not for robot.

get_fs()

Get a list of 3 int data of FS (Full Scale) from the amplifier.

Returns:

List[int]: List of 3 int FS [X,Y,Z] data.

get_itf()

Get a list of 3x3 float data of ITF from the amplifier.

ITF means Interference coefficients.

Returns:

list float: List of 3x3 float ITF data

is_connected()

Return the serial port is connected or not.

Returns:

bool: True if connected, False otherwise.

set_for_robot()

Set the amplifier to robot mode if available or to non-robot mode.

Returns:

str: Reply for the command or error message if failure.

set_frequency(frequency: int)

Set sensing frequency to the amplifier.

Args:

frequency (int): Freqency [Hz] of the amplifier sensing.

Returns:

bool: True on success, False on failure.

Note:

The set data are Stored in non-volatile memory in the amplifier.

set_fs(val_list: list[int])

Set 3 int data of FS (Full Scale) to the amplifier.

Args:

val_list (list[int]): List of 3 float FS [X,Y,Z] data.

Returns:

bool: True on success, False on failure.

Note:

The set data are stored in non-volatile memory in the amplifier.

set_itf(val_list: list[float])

Set 3x3 float data for ITF in the amplifier.

ITF means Interference coefficients.

Args:

val_list (list[float]): list of 3x3 float for ITF to set in the amplifier.

Returns:

bool: True on success, False on failure.

Note:

The set data are stored in non-volatile memory in the amplifier.

set_zero()

Start zero force adjustment and store them.

Returns:

str: Reply for the command.

Note:

  • The adjustment takes around 2 seconds after sending the command.

  • The adjustment data are stored in non-volatile memory in the amplifier.

start()

Send START command to the amplifire and start the data conversion.

Returns:

str: Reply for the command.

stop()

Send STOP command to the amplifier and stop the data conversion.

Returns:

str: Reply for the command.