Commutator linear drive harp device.
Provides control of the linear drive to control the position of the commutator from Bonsai.
The target must be running a firmware image built from the v1.18-swc branch of the micropython project.
Additionally, the SWC microharp package must be present on the filesystem of the target.
| MessageType | Address | PayloadType | Payload | Description |
|---|---|---|---|---|
| Write | 33 | S16 | vel | Set Linear rail velocity, [-7583, 7583] TODO: units. |
| Event | 34 | S16 | vel | Current Linear rail velocity, [-7583, 7583] TODO: units. |
| Write | 40 | U8 | ctl | Linear rail control, 0 = disable, 1 = enable. |
| Write | 41 | S32 | -ve, +ve | Linear rail position limits, default -1000, 160000. |
| Write | 42 | S32 | pos | Linear rail home pos [-2147483648, 2147483647] TODO: units. |
| Write | 43 | S32 | pos | Linear rail goto pos [-2147483648, 2147483647] TODO: units. |
| Event | 44 | S32 | pos | Linear rail current pos [-2147483648, 2147483647] TODO: units. |
| Write | 45 | U16 | spd | Linear rail speed limit, default 7583. |
| Write | 46 | U16 | ctl | Linear rail Continuous current limit, default 900 (mA). |
| Write | 47 | U16 | ctl | Linear rail Peak current limit, default 900 (mA). |
| Write | 48 | U8 | ctl | Position range limit control, 0 = disable, 1 = enable. |
To control the position of the linear drive;
- set home
- enable the drive
- set position
This is a work in progress copied from the Perturbation Treadmill Code base pert-tread-drv
If you use this software or hardware, please cite it as below:
Sainsbury Wellcome Centre Foraging Behaviour Working Group. (2023). Aeon: An open-source platform to study the neural basis of ethological behaviours over naturalistic timescales, https://doi.org/10.5281/zenodo.8411157
