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Open Loop control via daemon for PPC102 stages #154

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Open Loop control via daemon for PPC102 stages #154

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2ca9c0e
All filter wheel config files. Daemon tested through FEI machine but …
Jul 9, 2026
6a41595
Change names of files and daemons to match jira
Jul 9, 2026
e4130af
Merge branch 'main' of https://github.com/CaltechOpticalObservatories…
Aug 3, 2026
b9e1310
Added ability to control stage in open loop via voltages
Aug 3, 2026
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66 changes: 57 additions & 9 deletions daemons/hsfei/piaa-gimbalmount
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,8 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
topics = {}

#voltage control parameters
V_MIN = -20
V_MIN = -25
V_MAX = 150
DIGITAL_MIN = -32767
DIGITAL_MAX = 32767

def __init__(self):
"""Initialize the Gimbal daemon."""
Expand Down Expand Up @@ -97,18 +95,30 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
setter=self.keyword_wrapper(self.set_xpos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
description="set/get current position of GimbalMount.")
self.keyword_registry.float("positionvaluey",
getter=self.keyword_wrapper(self.get_ypos, key="position"),
setter=self.keyword_wrapper(self.set_ypos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
description="set/get current position of GimbalMount.")
self.keyword_registry.string("positionnamed",
getter=self.keyword_wrapper(self.cur_named_position, key="named_pos"),
setter=self.keyword_wrapper(self.goto_named_pos, key="named_pos"),
validator=self._check_named,
description="Set and get named position of GimbalMount.")
description="set/get named position of GimbalMount.")
self.keyword_registry.float("voltagevaluex",
getter=self.keyword_wrapper(self.get_xvolts, key="voltage"),
setter=self.keyword_wrapper(self.set_xvolts, key="voltage"),
validator=self._check_soft_limits,
units="Volts",
description="set/get voltage for open loop control of GimbalMount.")
self.keyword_registry.float("voltagevaluey",
getter=self.keyword_wrapper(self.get_yvolts, key="voltage"),
setter=self.keyword_wrapper(self.set_yvolts, key="voltage"),
validator=self._check_soft_limits,
units="Volts",
description="set/get voltage for open loop control of GimbalMount.")
self.keyword_registry.int("softmin",
getter=lambda: self._soft_min,
setter=lambda v: setattr(self, "_soft_min", int(v)),
Expand Down Expand Up @@ -268,6 +278,14 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
'''gets current Y position'''
return self.get_pos(axis=1)

def get_xvolts(self):
'''gets current X voltage'''
return self.get_volts(axis=0)

def get_yvolts(self):
'''gets current Y voltage'''
return self.get_volts(axis=1)

def get_pos(self, axis : int):
'''gets current position'''
if not self.dev.is_connected():
Expand All @@ -285,6 +303,27 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
return {"ok": False, "error": str(e)}
return {"ok":True, "position": position}

def get_volts(self, axis):
'''gets output voltage for open loop control'''
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}
if not self.state['enabled']:
return {"ok": False, "error": "Device not enabled"}
if self.state['isloopsclosed']:
return {"ok": False, "error": "Control loops are closed; cannot get volts"}
try:
axis = int(axis)
if axis not in [0,1]:
self.logger.error("Axis must be 0 (X) or 1 (Y)")
return {"ok": False, "error": "Axis must be 0 (X) or 1 (Y)"}
chan = axis + 1
voltage = self.dev.get_output_volts(channel=chan)
self.logger.debug("get_volts: %s",voltage)
except Exception as e: # pylint: disable=W0718
self.logger.error("error: %s",e)
return {"ok": False, "error": str(e)}
return {"ok":True, "voltage": voltage}

def set_xpos(self, pos: float):
'''sets current X position'''
if self.state['isloopsclosed']:
Expand All @@ -297,6 +336,14 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
return self.set_pos(axis=1, pos=pos)
return self.set_volts(axis=1, volts=pos)

def set_xvolts(self, volts: float):
'''sets output voltage for open loop control'''
return self.set_volts(axis=0, volts=volts)

def set_yvolts(self, volts: float):
'''sets output voltage for open loop control'''
return self.set_volts(axis=1, volts=volts)

def set_volts(self, axis: int, volts: float):
'''sets output voltage for open loop control'''
if not self.dev.is_connected():
Expand All @@ -311,11 +358,12 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
if axis not in [0,1]:
self.logger.error("Axis must be 0 (X) or 1 (Y)")
return {"ok": False, "error": "Axis must be 0 (X) or 1 (Y)"}
if not self.V_MIN <= volts <= self.V_MAX:
self.logger.error("Voltage must be between %s and %s", self.V_MIN, self.V_MAX)
return {"ok": False, "error": f"Voltage must be between {self.V_MIN} and {self.V_MAX}"}
chan = axis + 1
#convert volts to int between -32768 and 32,767 for PPC102
voltage_ratio = (volts - self.V_MIN) / (self.V_MAX - self.V_MIN)
volts_int = int(voltage_ratio*(self.DIGITAL_MAX-self.DIGITAL_MIN)+self.DIGITAL_MIN)
self.dev.set_output_volts(channel=chan, volts=volts_int)
self.dev.set_output_volts(channel=chan, volts=volts)
self.logger.debug("set_volts: %s",volts)
voltage = self.dev.get_status_update(channel=chan)[0]
except Exception as e: # pylint: disable=W0718
Expand Down
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