DropBot capacitance updates

README.md

Jupyter notebook demonstrating connecting to DropBot capacitance update events.

chip-orientation.jpg

DropBot capacitance updates.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from __future__ import division, print_function, unicode_literals\n",
    "import logging\n",
    "import time\n",
    "\n",
    "from IPython.display import display, Image, Markdown\n",
    "import dropbot as db\n",
    "import ipywidgets as ipyw\n",
    "import numpy as np\n",
    "import si_prefix as si\n",
    "\n",
    "logging.basicConfig(level=logging.DEBUG)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# SCI-BOTS 90-pin array v3 channel map\n",
    "\n",
    "The image below show the channel mapping for the electrodes on the \n",
    "\n",
    "![Image](chip-orientation.jpg)\n",
    "![Image](SCI-BOTS 90-pin array v3.png)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "DEBUG:trollius:Using selector: SelectSelector\n",
      "DEBUG:base_node_rpc.async:`ProactorEventLoop` required, not `<class 'trollius.windows_events._WindowsSelectorEventLoop'>`loop in background thread.\n",
      "DEBUG:base_node_rpc.async:Execute new loop in background thread.\n",
      "DEBUG:trollius:Using proactor: IocpProactor\n",
      "DEBUG:base_node_rpc.async:`ProactorEventLoop` required, not `<class 'trollius.windows_events._WindowsSelectorEventLoop'>`loop in background thread.\n",
      "DEBUG:base_node_rpc.async:Execute new loop in background thread.\n",
      "DEBUG:trollius:Using proactor: IocpProactor\n",
      "DEBUG:base_node_rpc.proxy:Attempt to connect to device on port COM4 (baudrate=115200)\n",
      "DEBUG:serial_device.threaded:Open `COM4` and monitor connection status\n",
      "DEBUG:serial_device.threaded:connection_made: `COM4` `<ReaderThread(Thread-9, started daemon 3968)>`\n",
      "DEBUG:base_node_rpc.proxy:Wait for connection to port COM4\n",
      "INFO:base_node_rpc.proxy:Successfully connected to dropbot on port COM4\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "array([  3,   7,  11,  15,  19,  23,  27,  30,  31,  35,  39,  43,  47,\n",
       "        51,  55,  59,  60,  64,  68,  72,  76,  80,  84,  88,  89,  92,\n",
       "        96, 100, 104, 108, 112, 116])"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "try:\n",
    "    # Close existing connection (if it exists) to allow this cell\n",
    "    # to be run multiple times.\n",
    "    proxy.terminate()\n",
    "except:\n",
    "    pass\n",
    "\n",
    "proxy = db.SerialProxy()\n",
    "disabled_channels = proxy.disabled_channels_mask\n",
    "\n",
    "# Disable channels for electrodes covered by copper tape.\n",
    "disabled_channels[[30, 89]] = 1\n",
    "\n",
    "# Disable channels not connected to electrodes on Sci-Bots 90-pin array v3 chip.\n",
    "not_connected = [3,    7,    11,   15,   19,   23,   27,   31,   35,   39,\n",
    "                 43,   47,   51,   55,   59,   60,   64,   68,   72,   76,\n",
    "                 80,   84,   88,   92,   96,   100,  104,  108,  112,  116]\n",
    "disabled_channels[not_connected] = 1\n",
    "proxy.disabled_channels_mask = disabled_channels\n",
    "display(np.where(proxy.disabled_channels_mask)[0])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "hv_output_selected                 True\n",
       "hv_output_enabled                  True\n",
       "channel_count                       120\n",
       "frequency                         10000\n",
       "voltage                             100\n",
       "target_capacitance                    0\n",
       "capacitance_update_interval_ms        0\n",
       "dtype: object"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Query runtime properties of DropBot.\n",
    "proxy.state"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "hv_output_selected                 True\n",
       "hv_output_enabled                  True\n",
       "channel_count                       120\n",
       "frequency                         10000\n",
       "voltage                             100\n",
       "target_capacitance                    0\n",
       "capacitance_update_interval_ms        0\n",
       "dtype: object"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Actuation voltage: 100.8 V\n"
     ]
    }
   ],
   "source": [
    "# Set `hv_output_enabled` to `True` to turn on high voltage output.\n",
    "proxy.update_state(hv_output_enabled=True)\n",
    "# Display updated DropBot runtime state\n",
    "display(proxy.state)\n",
    "# Measure high voltage output.\n",
    "print('Actuation voltage: %sV' % si.si_format(proxy.measure_voltage()))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "120"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Query number of channels available.\n",
    "proxy.number_of_channels"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1,\n",
       "       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,\n",
       "       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,\n",
       "       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,\n",
       "       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,\n",
       "       0, 0, 0, 0, 0], dtype=uint8)"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "# Query current state of channels (1=actuated).\n",
    "proxy.state_of_channels"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "--------------------------------------------------------------------"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Example: display latest capacitance reported from DropBot."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\r",
      "capacitance: 49.9 pF (message=`OrderedDict([(u'event', u'capacitance-updated'), (u'new_value', 4.98611e-11), (u'start', 3903965419L), (u'end', 3903966392L), (u'n_samples', 50), (u'V_a', 100.585)])`)"
     ]
    }
   ],
   "source": [
    "def dump_capacitance_update(message):\n",
    "    '''\n",
    "    Display latest capacitance reported from DropBot.\n",
    "    '''\n",
    "    print('\\rcapacitance: %sF (message=`%s`)' % (si.si_format(message['new_value']),\n",
    "                                                 message), end='')\n",
    "    \n",
    "\n",
    "# Connect to capacitance updated DropBot events.\n",
    "proxy.signals.signal('capacitance-updated').connect(dump_capacitance_update)\n",
    "# Set `capacitance_update_interval_ms` to non-zero value to enable\n",
    "# periodic DropBot `capacitance-updated` events.\n",
    "proxy.update_state(capacitance_update_interval_ms=100)\n",
    "pass"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Disconnect `capacitance-updated` handler"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Set `capacitance_update_interval_ms` to zero value to disable\n",
    "# DropBot `capacitance-updated` events.\n",
    "proxy.update_state(capacitance_update_interval_ms=0)\n",
    "# (optional) Disconnect event handler\n",
    "proxy.signals.signal('capacitance-updated').disconnect(dump_capacitance_update)\n",
    "pass"
   ]
  }
 ],
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SCI-BOTS 90-pin array v3.png