MRI_Controller

Software to automate measurements and control the MRI carts.

How to Use the 2D Sweep Measurement System

This guide explains how to set up and use the 2D Sweep Measurement System. The system will move a device across a 2D grid (azimuth and elevation) and take measurements at each position using a scope. The results will be saved in a MATLAB-compatible .mat file for further analysis.

Prerequisites

Before using the system, ensure the following:

1. Hardware Setup: Stepper Motor Azimuth (PUL) - GPIO 22
   Stepper Motor Azimuth (DIR) - GPIO 27
   Stepper Motor Azimuth (ENA) - GPIO 17
   Stepper Motor Elevation (PUL) - GPIO 23
   Stepper Motor Elevation (DIR) - GPIO 24
   Stepper Motor Elevation (ENA) - GPIO 25

2. Software Setup:

   • Install Python 3 and necessary libraries. The following libraries are used in the code:
     • socket: For network communication.
     • keyboard: To detect key input without pressing enter.
     • time: For timing-related operations.
     • configparser: For reading and writing configuration files.
     • numpy: For numerical operations.
     • sys: For system-specific parameters and functions.
     • twister_api.oscilloscope_interface: For communication with the oscilloscope.
     • twister_api.twister_utils: Utility functions for the Twister API.
     • twister_api.fileio: File input/output operations.
     • scipy: For scientific computing (e.g., saving data in MATLAB format).
     • os: For file and directory operations.
     • datetime: To get and format the current date.

   To install dependencies, use the pip installer with your preferred version of Python 3

Usage

Follow these steps to run the 2D sweep:

1. Prepare the Parameters

You will need to define the following parameters:

In the config file:

• Start and End Azimuth: The range of azimuth angles you want to sweep across.
• Start and End Elevation: The range of elevation angles you want to sweep across.
• Step Size: The step size for both azimuth and elevation (i.e., how much to move the device between measurements).
• Measurement Type: Enter True to capture entire waveforms, enter False to capture peaks. The code will not do both at the same time.

In the UTOL_Motion_Control_pc.py script:

• Save Folder: The folder where the measurement data will be saved. This is set in the code, not the config file
• Timing delays: Adjust these as necessary for measurements. Should be set to correct measured times already

Use the existing config.ini file to do this on the PC and save it when inputs have been entered. The save folder is defined in the header of UTOL_Motion_Control_pc.py

2. Start the Pi Server

On the pi, start the UTOL_Motion_Control_pi.py script and ensure it prints out that it is listening on a port.

3. Run the PC Controller Code

On the pc, start the UTOL_Motion_Control_pc.py code. You may have to run this as admin and enter your password due to the keyboard input code. The code will run as follows:

1. The code takes a single parameter that is the save file name. For example running python3 UTOL_Motion_Control_pc.py test will save files as test.mat (no need to include .mat extension as that is done in code already)
2. When first run, the code will enter a setup mode that allows the user to select a start location controlling the motor stage with the keyboard. When you are satisfied with this, press 'q' to quit and begin the sweep.
3. The sweep will start by moving to the bottom left corner of the sweep and doing a serpentine approach to the top, taking measurements at each point. It also will record the current position of the azimuth and elevation in the config file in case of an interruption. At any point, the 'p' key can be pressed to pause the measurement and the 'r' key is pressed to continue again. You may have to hold the p key for a second or two before it works depending on where it is in the measurement process.
4. When completed with the sweep, the code will exit the sweep and save the results to the given filepath.