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How to use get_us method in avocado

Best Python code snippet using avocado_python

motor_main.py

Source:motor_main.py

...36kDt = 0.537kAlpha = 0.0138kBeta = 0.000139# gets the current time in the form of microseconds - need to revisit this40def get_us():41    now = datetime.datetime.now()42    return (now.minute*60000000)+(now.second*1000000)+(now.microsecond)43# returns the elapsed time by subtracting the timestamp provided by the current time 44def get_elapsed_us(timestamp):45    temp = get_us()46    return (temp - timestamp)47class MotorController(object):48    SO_FILE = os.path.dirname(os.path.realpath(__file__)) + "/ad5592_spi_read.so"49    C_FUNCTIONS = CDLL(SO_FILE)50    INITIAL_US = get_us()51    52    def __init__(self, pwm_pin, motor_pin, mode = GPIO.BOARD, freq = 25000, warnings = False):53        GPIO.setwarnings(warnings)54        GPIO.setmode(mode)55        GPIO.setup(motor_pin, GPIO.OUT)56        self.pwm_pin = pwm_pin57        self.motor_pin = motor_pin58        self.pi = pigpio.pi()59        60        ## Default values61        self.pwm_current = 062        self.pwm_target = 063        self.duration = ""64        self.position_hold_time = 065        self.position_counter = 066        self.data = []67        self.data_single_revolution = []68        self.last_position = 069        self.freq_count = [[],[]]70        self.kX1 = 0.071        self.kV1 = 0.072        self.x = []73        self.v = []74        self.r = []75    def initialize(self):76    	print("***********************************")77        print("Initializing spi...")78        msg = ""79        self.pi.hardware_PWM(19, 0, 0)80        GPIO.output(self.motor_pin, 1)81        _self_check = self.C_FUNCTIONS.initialize_motor()82        83        if _self_check:84            ## TODO Raise exception here85            msg = "ERROR: Initialize Failed."86            return 0, msg87        if input("Would you like to view the registers? (y/n): ").lower() == 'y':88            self._read_registers()89            if(input("\nAre Registers correct? (y/n): ").lower() != 'y'):90                msg = "Registers Not Selected to be Correct."91                return 0, msg92        if not self.C_FUNCTIONS.initialize_adc():93            print("ADC Initialized Successfuly")94        else:95            msg = "ERROR: Initialize Failed."96            return 0, msg97        return 1, "Everything Looks Good."98    def pwm_settings(self, duration, pwm_target):99        if duration == "i":100            duration = np.inf101        else:102            try:103                duration = int(duration)104            except ValueError:105                print("invalid duration type")106                return -1107        self.duration = duration108        self.pwm_target = int(pwm_target)109        return 0110    111    def analog_in_initial_send(self):112        self.C_FUNCTIONS.getAnalogInAll_InitialSend()113    # Increases PWM control duty cycle by 1%114    # Gets called by run_main until preferred duty cycle is reached115    def pwm_control(self):116        if(self.pwm_current < self.pwm_target):117            self.pwm_current = self.pwm_current + 1118            print("PWM: {}".format(self.pwm_current))119        self.pi.hardware_PWM(19, 25000, pwm_current * 10000)120    def get_analog_data(self):121        return self.C_FUNCTIONS.getAnalogInAll_Receive()122    123    def analog_terminate(self):124        self.C_FUNCTIONS.getAnalogInAll_Terminate()125    def health_check(self, data):126        code = [0,0,0]127        for i in range(1,4):		# Turning Hall sensor channel data into a 3-digit position code128            if(data[i] > 1650):		# Set a threshold of 1650mV for the hall pulse129                code[i-1] = 1130            else:131                code[i-1] = 0132        position = self._find_positions(code)	# Convert code into a position (1-6)133        if(self.last_position != position):		# Check if position is different from the last recorded position134            if(self.last_position != 0):135                freq = self._get_rpm(self.position_hold_time)136                self.running_filter(freq)137                reluctance = self._motor_reluctance(self.x[-1])138                self.position_counter += 1 139                if(self.position_counter == 6):140                    rms_val = self._revolution_rms()141                    self.position_counter = 0142                else:143                    rms_val = 0144                print("Elapsed: {}, ".format(get_elapsed_us(self.INITIAL_US)) + "Position: {}, ".format(position) + "Frequency: {} ".format(round(freq, 2)) + "Filtered freq: {} ".format(x[-1]) +"PWM: {} ".format(pwm_current) + "Freq/PWM = {} ".format(reluctance) + "RMS Current: {}".format(rms_val))145            else:146            	print("Incorred position recorded")147            	return 0148            self.position_hold_time = get_us()149            self.last_position = position150        else:151            if((get_us() - self.position_hold_time) > 500000):152                print("****WARNING: STALL DETECTED****") 153                return 0154        return 1155    def running_filter(self, data):156        x_k = self.kX1 + kDt * self.kV1157        r_k = data - x_k158        x_k = x_k + kAlpha * r_k159        v_k = self.kV1 + (kBeta/kDt) * r_k160        self.kX1 = x_k161        self.kV1 = v_k162        self.x.append(x_k)163        self.v.append(v_k)164        self.r.append(r_k)        165    def rampdown(self):166        print("Starting rampdown...")167        for duty in range(self.pwm_current, -1, -1):168            self.pi_pwm.ChangeDutyCycle(duty)169            print("PWM: {}".format(duty))170            time.sleep(0.5)171        GPIO.output(self.motor_pin, 0)172        # graph_data()173        return 0174    def shutdown(self):175    # This occurs when there is a danger event like a stall or overcurrent176    # In this case, we want to shut off everything immediately to prevent further damage177        print("Starting Shutdown")178        self.pi.hardware_PWM(19, 0, 0)179        GPIO.output(self.motor_pin, 0)180        # graph_data()181        return 0182    def _read_registers(self):183    # Reads all registers on DRV8343 and prints them184        for i in range(19):185            reg_data = self.C_FUNCTIONS.motor_register_read(i)186            print('Register {}:'.format(i) + ' {}'.format(hex(reg_data)));187            print('\n')188    def _find_positions(self, code):189    # Converts the hall sensor pulse data into a position (1-6)190    # If the hall sensor pulses do not align with one of these positions, a zero is returned at which there will a flag raised191        if code == [1, 0, 1]:192            return 1193        elif code == [0, 0, 1]:194            return 2195        elif code == [0, 1, 1]:196            return 3197        elif code == [0, 1, 0]:198            return 4199        elif code == [1, 1, 0]:200            return 5201        elif code == [1, 0, 0]:202            return 6203        else:204            return 0205    206    def _get_rpm(self, pos_hold_time):207        freq = (1000000/((get_us() - pos_hold_time)*6))208        self.freq_count[0].append(get_elapsed_us(self.INITIAL_US))209        self.freq_count[1].append(freq)210        return freq211    def _motor_reluctance(self, freq):212        return freq/self.pwm_current213    def _revolution_rms(self):214        #TODO: Implement Function here215        return 0216# Processes the raw ADC data by multiplying by factor of 4096/5000 = 0.819217# Also extracts the index from data frame218# Returns both of these219def data_process(data):220    adc_reading = int((data & 0x0FFF) / 0.819)221    index = ((data >> 12) & 0x7)222    return adc_reading, index223# Graphs the current data. This is currently screwed up224def graph_data():225    #filter_data(freq_count[1])226    axs[0].plot(freq_count[0], x)227    axs[1].plot(data[0], data[4])228    axs[2].plot(data[0], data[5])229    axs[3].plot(data[0], data[6])230    plt.show()231# This is the main script which commands the pwm, adc data, and 232# The while loop will keep running until time elapses, a keyboard interrupt, or the motor stalls233def run_main():234    PWM_PIN = 19235    MOTOR_EN_PIN = 15236    237    MC = MotorController(PWM_PIN, MOTOR_EN_PIN)238    resp, msg = MC.initialize()239    print("***********************************")240    if not resp:241        print(msg)242        return -1243    244    resp = MC.pwm_settings(245        input("Enter sample duration (type 'i' for inifinite): "),246        input("Enter target duty cycle % (0-100):"))247    if not resp:248        print("PWM Settings incorrect. Exiting")249        return -1250    print("***********************************")251    temp_data = np.uint32([0,0,0,0,0,0,0,0,0])252    adc_reading = 0x0253    index = 0x0254    pwm_counter = 0255    MC.analog_in_initial_send()                                         # Sends initial command to ADC to start recording all channels repeatedly256    position_hold_time = get_us()										# Gets initial timestamp for position time tracking257    while(1):258            if((pwm_counter % 1000) == 0):259                MC.pwm_control()											# Adjusts PWM for ramp-up260            pwm_counter = pwm_counter + 1								# Counter allows for a gradual ramp-up261            for i in range(0, ACTIVE_CHANNELS):262                data_16bit = MC.get_analog_data() 263                adc_reading, index = data_process(data_16bit)264                temp_data[index+1] = adc_reading265                data[index+1].append(temp_data[index+1])266            temp_data[0] = get_elapsed_us(MC.INITIAL_US)267            data[0].append(temp_data[0])268            #print('Time Elapsed: {}'.format(temp_data[0]))269            writer = csv.writer(file)270            writer.writerow(temp_data)...

stat.py

Source:stat.py

1from glob import glob2def get_us(line):3    value = line.strip().split(" ")[-1]4    if value[-2:] != "Î¼s":5        raise Exception("cannot parse")6    return int(value[:-2])7benched =  ["Homomorphic commitment took",8            "Spend proof took",9            "Output proof took",10            "Commitment checks took",11            "Spend proof verify took",12            "Output proof verify took",13            "Merging signature and tx took",14            "Consistency check took",15            "Randomness aggregation and transaction assembly took"]16def parse_test(file):17    data = {}18    with open(file) as fd:19        for line in fd:20            for parse in benched:21                if parse in line:22                    if parse not in data:23                        data[parse] = []24                    data[parse].append(get_us(line))25    return data26data = {}27for f in glob("data/run*"):28    d = parse_test(f)29    for k,v in d.items():30        if k not in data:31            data[k] = []32        data[k]+=v33med = {}34for k,v in data.items():35    median = sorted(v)[len(v)//2]36    med[k] = (median/1000, (median-min(v))/1000, (max(v)-median)/1000)37    print(k.ljust(55),f"{med[k][0]:8.3f} -{med[k][1]:8.3f} +{med[k][2]:8.3f} ms")38# pgfplots output...

raspi_serial.py

Source:raspi_serial.py

1import serial2import string3import time4try:5	ser = serial.Serial('/dev/ttyACM1', 9600, timeout=1) # open serial port6except:7	ser = serial.Serial('/dev/ttyACM0', 9600, timeout=1) # open serial port8ser.reset_input_buffer() # clear the buffers9# All Helper Functions!10def writeArduino(command):11	ser.write(command.encode())12	13def readArduino():14	return ser.readline().decode('utf-8').strip()15def get_US(sensor):16	command = "get_US," + sensor + "\n"17	ser.write(command.encode())18	return readArduino()19def buzz():20	command = "buzz\n"21	ser.write(command.encode())22	time.sleep(0.3)23while True:24	distance = float(get_US("FRONT_LEFT"))25	print(distance)26	if (distance > 10):27		buzz();28	if (ser.in_waiting > 0):29		print(readArduino())30	time.sleep(0.1)...

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