Telemark University College Department of Electrical Engineering, Information Technology and Cybernetics

Data Acquisition in C#
HANS-PETTER HALVORSEN, 2011.05.27

Faculty of Technology, Postboks 203, Kjlnes ring 56, N-3901 Porsgrunn, Norway. Tel: +47 35 57 50 00 Fax: +47 35 57 54 01

Table of Contents
1 Introduction .................................................................................................................................... 4 1.1 1.2 1.3 1.4 2 Visual Studio ............................................................................................................................ 4 USB-6008 DAQ Device ............................................................................................................. 5 NI DAQmx driver...................................................................................................................... 6 Measurement Studio ............................................................................................................... 6

Data Acquisition.............................................................................................................................. 7 2.1 Introduction ............................................................................................................................. 7 Physical input/output signals .......................................................................................... 8 DAQ device/hardware ..................................................................................................... 8 Driver software ................................................................................................................ 9 Your software application ............................................................................................... 9

2.1.1 2.1.2 2.1.3 2.1.4 2.2 2.3

MAX Measurement and Automation Explorer ..................................................................... 9 DAQ in Visual Studio .............................................................................................................. 11 NI-DAQmx ...................................................................................................................... 11

2.3.1 3

My First DAQ App ......................................................................................................................... 12 3.1 3.2 Introduction........................................................................................................................... 12 Source Code........................................................................................................................... 13

Measurement Studio .................................................................................................................... 16 4.1 4.2 4.3 Introduction ........................................................................................................................... 16 Templates .............................................................................................................................. 17 Toolbox .................................................................................................................................. 17

Control Application ....................................................................................................................... 19 2

3 5.1 5.2 6 7

Table of Contents Introduction ........................................................................................................................... 19 Source Code........................................................................................................................... 20

Trending Data ............................................................................................................................... 26 Discretization ................................................................................................................................ 28 7.1 7.2 7.3 7.4 Low-pass Filter ....................................................................................................................... 28 PI Controller........................................................................................................................... 29 Process Model ....................................................................................................................... 30 Final Application .................................................................................................................... 31

OPC ............................................................................................................................................... 35

Appendix A: Source Code ...................................................................................................................... 36 My First DAQ App.............................................................................................................................. 36 Control Application ........................................................................................................................... 37

Tutorial: Data Acquisition in C#

1 Introduction
In this Tutorial we will learn how to create DAQ (Data Acquisition) applications in Visual Studio and C#. We will use a USB-6008 DAQ device from National Instruments as an example. In order to use DAQ devices from National Instruments in C# and Visual Studio we need to NI-DAQmx driver provides by National Instruments. As part of this installation you can install a .NET API. We will use this API to create a simple DAQ application. In addition we will use Measurement Studio which is an add-on to Visual Studio which makes it easier to create more advanced DAQ applications.

1.1 Visual Studio

Microsoft Visual Studio is an integrated development environment (IDE) from Microsoft. It can be used to develop console and graphical user interface applications along with Windows Forms applications, web sites, web applications, and web services in both native code together with managed code for all platforms supported by Microsoft Windows, Windows Phone, Windows CE, .NET Framework, .NET Compact Framework and Microsoft Silverlight. The latest version of Visual Studio is Visual Studio 2010. Below we see the integrated development environment (IDE) in Visual Studio:

5 New projects are created from the New Project window:

Introduction

1.2 USB-6008 DAQ Device

NI USB-6008 is a simple and low-cost multifunction I/O device from National Instruments.

The device has the following specifications: 8 analog inputs (12-bit, 10 kS/s) 2 analog outputs (12-bit, 150 S/s) 12 digital I/O USB connection, No extra power-supply neeeded Compatible with LabVIEW, LabWindows/CVI, and Measurement Studio for Visual Studio .NET NI-DAQmx driver software

The NI USB-6008 is well suited for education purposes due to its small size and easy USB connection.

Tutorial: Data Acquisition in C#

Introduction

1.3 NI DAQmx driver

National Instruments provides a native .NET API for NI-DAQmx. This is available as a part of the NI-DAQmx driver and does not require Measurement Studio.

1.4 Measurement Studio

C# is a powerful programming language, but has few built-in features for measurement and control applications. Measurement Studio is an add-on to Visual Studio which makes it easier to create such applications. With Measurement Studio we can implement Data Acquisition and a graphical HMI.

Tutorial: Data Acquisition in C#

2 Data Acquisition
2.1 Introduction
The purpose of data acquisition is to measure an electrical or physical phenomenon such as voltage, current, temperature, pressure, or sound. PC-based data acquisition uses a combination of modular hardware, application software, and a computer to take measurements. While each data acquisition system is defined by its application requirements, every system shares a common goal of acquiring, analyzing, and presenting information. Data acquisition systems incorporate signals, sensors, actuators, signal conditioning, data acquisition devices, and application software. So summing up, Data Acquisition is the process of: Acquiring signals from real-world phenomena Digitizing the signals Analyzing, presenting and saving the data

The DAQ system has the following parts involved, see Figure:

The parts are: Physical input/output signals DAQ device/hardware Driver software Your software application (Application software)

For an Introduction to Data Acquisition, see this webcast: http://zone.ni.com/wv/app/doc/p/id/wv-169

Data Acquisition

2.1.1

Physical input/output signals

A physical input/output signal is typically a voltage or current signal.

2.1.2

DAQ device/hardware

DAQ hardware acts as the interface between the computer and the outside world. It primarily functions as a device that digitizes incoming analog signals so that the computer can interpret them A DAQ device (Data Acquisition Hardware) usually has these functions: Analog input Analog output Digital I/O Counter/timers

We have different DAQ devices, such as: Desktop DAQ devices where you need to plug a PCI DAQ board into your computer. The software is running on a computer. Portable DAQ devices for connection to the USB port, Wi-Fi connections, etc. The software is running on a computer Distributed DAQ devices where the software is developed on your computer and then later downloaded to the distributed DAQ device.

Tutorial: Data Acquisition in C#

Data Acquisition

2.1.3

Driver software

Driver software is the layer of software for easily communicating with the hardware. It forms the middle layer between the application software and the hardware. Driver software also prevents a programmer from having to do register-level programming or complicated commands in order to access the hardware functions. Driver software from National Instruments: NI-DAQmx

2.1.4

Your software application

Application software adds analysis and presentation capabilities to the driver software. Your software application normally does such tasks as: Real-time monitoring Data analysis Data logging Control algorithms Human machine interface (HMI)

In order to create your DAQ application you need a programming development tool, such as Visual Studio/C#, LabVIEW, etc..

2.2 MAX Measurement and Automation Explorer

Tutorial: Data Acquisition in C#

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Data Acquisition

Measurement & Automation Explorer (MAX) provides access to your National Instruments devices and systems. With MAX, you can: Configure your National Instruments hardware and software Create and edit channels, tasks, interfaces, scales, and virtual instruments Execute system diagnostics View devices and instruments connected to your system Update your National Instruments software

In addition to the standard tools, MAX can expose item-specific tools you can use to configure, diagnose, or test your system, depending on which NI products you install. As you navigate through MAX, the contents of the application menu and toolbar change to reflect these new tools.

Tutorial: Data Acquisition in C#

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Data Acquisition

2.3 DAQ in Visual Studio

We can create DAQ applications with or without Measurement Studio. In both situations you need the NI-DAQmx driver library.

2.3.1

NI-DAQmx

National Instruments provides a native .NET API for NI-DAQmx. This is available as a part of the NI-DAQmx driver and does not require Measurement Studio. In general, data acquisition programming with DAQmx involves the following steps: Create a Task and Virtual Channels Start the Task Perform a Read operation from the DAQ Perform a Write operation to the DAQ Stop and Clear the Task.

Data acquisition in text based-programming environment is very similar to the LabVIEW NI-DAQmx programming as the functions calls is the same as the NI-DAQmx VIs.

Using NI-DAQmx in Text Based Programming Environments: http://zone.ni.com/devzone/cda/tut/p/id/5409#toc4

Examples: Examples installed as part of NI-DAQmx: The location of examples will depend on the version of Visual Studio and is listed in the following Developer Zone Article: Using NI-DAQmx in Text Based Programming Environments. The most common location is:
C:\Documents and Settings\All Users\Documents\National Instruments\NI-DAQ\Examples\DotNET<.NET Framework Version>\

Newest examples for .NET 4.0 and Visual Studio 2010:

C:\Documents and Settings\All Users\Documents\National Instruments\NI-DAQ\Examples\DotNET4.0\

Sub-folders named CS contain C# examples. These examples install with NI-DAQmx. Measurement Studio is not required to install the class libraries or the examples. Note! If the paths above do not exist, be sure you have .NET support installed for NI-DAQmx.

Tutorial: Data Acquisition in C#

3 My First DAQ App

3.1 Introduction
This application uses the C# API included in the NI DAQmx driver, so make sure that you have installed the NI DAQmx driver in advance. You dont need Measurement Studio to create this application. Start Visual Studio and create a new Windows Forms application. We will create the following application in Visual Studio 2010 and C#:

The User Interface looks like this:

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My First DAQ App

We start by connecting the Analog In and Analog Out wires together (a so called Loopback test). When we click the Write Data button, the value entered in the text box Analog Out will be written to the DAQ device. If we have connected the Analog In and Analog Out wires together we will read the same value in the Analog In textbox when we push the Get Data button.

3.2 Source Code

We will go through the different parts of the code in detail. References: This application uses the C# API included in the NI DAQmx driver, so make sure that you have installed the NI DAQmx driver in advance. We need to add the following Assembly references: NationalInstruments.Common NationalInstruments.DAQmx

We add References by right-clicking the References node in the Solution Explorer:

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My First DAQ App

When we have added the necessary References, the Solution Explorer will look like this:

Initialization: We need to add the following Namespaces:

using NationalInstruments; using NationalInstruments.DAQmx;

Analog Out: We implement the code for writing to the Analog Out channel in the Event Handler for the Write Data button:
private void btnWriteAnalogOut_Click(object sender, EventArgs e) { Task analogOutTask = new Task(); AOChannel myAOChannel; myAOChannel = analogOutTask.AOChannels.CreateVoltageChannel( "dev1/ao0", "myAOChannel", 0, 5, AOVoltageUnits.Volts );

Tutorial: Data Acquisition in C#

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AnalogSingleChannelWriter writer = new AnalogSingleChannelWriter(analogOutTask.Stream); double analogDataOut; analogDataOut = Convert.ToDouble(txtAnalogOut.Text); writer.WriteSingleSample(true, analogDataOut); }

My First DAQ App

Analog In: We implement the code for reading data from the Analog In channel in the Event Handler for the Get Data button:
private void btnGetAnalogIn_Click(object sender, EventArgs e) { Task analogInTask = new Task(); AIChannel myAIChannel; myAIChannel = analogInTask.AIChannels.CreateVoltageChannel( "dev1/ai0", "myAIChannel", AITerminalConfiguration.Differential, 0, 5, AIVoltageUnits.Volts ); AnalogSingleChannelReader reader = new AnalogSingleChannelReader(analogInTask.Stream); double analogDataIn = reader.ReadSingleSample(); txtAnalogIn.Text = analogDataIn.ToString(); }

Tutorial: Data Acquisition in C#

4 Measurement Studio
4.1 Introduction

C# is a powerful programming language, but has few built-in features for measurement and control applications. Measurement Studio is an add-on to Visual Studio which makes it easier to create such applications. With Measurement Studio we can implement Data Acquisition and a graphical HMI.

Measurement Studio for Visual C# .NET provides: Managed .NET controls for creating rich Web and Windows GUIs Multithreaded API for data acquisition Instrument control APIs Analysis libraries designed for engineers and scientists

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Measurement Studio

4.2 Templates
Measurement Studio has several Templates that make it easier to build DAQ applications.

4.3 Toolbox
Below we see the Toolbox in Visual Studio that is installed with Measurement Studio:

Tutorial: Data Acquisition in C#

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Measurement Studio

In addition to the Toolbox, Measurement Studio also installs the following menu item:

Tutorial: Data Acquisition in C#

5 Control Application
5.1 Introduction
In this example we will use Measurement Studio to create a simple control application. We will control the level in a water tank using manual control. The process is as follows:

We want to control the level in the water tank using a pump on the inflow. We will read the level using our USB-6008 DAQ device (Analog In) and write the control signal (Analog Out) to the DAQ device. The Analog Out (control signal) will be a signal between signal that we need to scale to . We will create the following application: and the Analog In (Level) will be a

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Control Application

We will use a Slider to manually adjust the control signal and a Tank to indicate the level in the real process. In this example we will use the Slide control and Tank control that comes with Measurement Studio.

5.2 Source Code

Start a New Project in Visual Studio:

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Control Application

Select the NI Windows Application Template in the Measurement Studio node. In the window that appears next, select the Libraries you want to include:

We create the User Interface above in Visual Studio, and it looks like this:

Tutorial: Data Acquisition in C#

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Control Application

For the read and write operations we have created a simple Class with two methods:
public class DaqData { public double ReadDaqData() { ... } public void WriteDaqData(double analogDataOut) { ... } }

More about the ReadDaqData() and WriteDaqData() methods below. Read Level: The ReadDaqData() method handles the logic for reading from the DAQ device:
public double ReadDaqData() { Task analogInTask = new Task(); AIChannel myAIChannel; myAIChannel = analogInTask.AIChannels.CreateVoltageChannel( "dev1/ai0", "myAIChannel", AITerminalConfiguration.Differential, 0, 5, AIVoltageUnits.Volts );

Tutorial: Data Acquisition in C#

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AnalogSingleChannelReader reader = new AnalogSingleChannelReader(analogInTask.Stream); double analogDataIn = reader.ReadSingleSample(); return analogDataIn; }

Control Application

Write Control Value: The WriteDaqData() method handles the logic for writing to the DAQ device:
public void WriteDaqData(double analogDataOut) { Task analogOutTask = new Task(); AOChannel myAOChannel; myAOChannel = analogOutTask.AOChannels.CreateVoltageChannel( "dev1/ao0", "myAOChannel", 0, 5, AOVoltageUnits.Volts ); AnalogSingleChannelWriter writer = new AnalogSingleChannelWriter(analogOutTask.Stream); writer.WriteSingleSample(true, analogDataOut); }

Timer: In the previous example (My First DAQ App) we was reading and writing to the DAQ device when clicking a button, but in an ordinary application this is not a good solution. In order to read and write data on regular intervals we will use a Timer. In the Components toolbox we find the Timer Control:

Tutorial: Data Acquisition in C#

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Control Application

In the Properties window we can specify the Interval (Sampling Time) in milliseconds.

We can start the timer with the following code:

public Form1() { InitializeComponent(); timer1.Start(); }

In the Timer Event we create the main logic in our application. We call the ReadDaqData() and WriteDaqData() methods, updates the GUI, etc.
private void timer1_Tick(object sender, EventArgs e) { DaqData myDaqData = new DaqData(); //Read Data double analogDataIn;

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analogDataIn = myDaqData.ReadDaqData(); if (analogDataIn analogDataIn if (analogDataIn analogDataIn < = > = 0) 0; 5) 5;

Control Application

//Scaling: analogDataIn = analogDataIn * 4; //0-5V -> 0-20cm tank.Value = analogDataIn; txtLevelValue.Text = analogDataIn.ToString("0.00"); //Write Data double analogDataOut; analogDataOut = sliderControl.Value; myDaqData.WriteDaqData(analogDataOut); }

Tutorial: Data Acquisition in C#

6 Trending Data
Now we want to extend our application with functionality for viewing historical data using a trend plot. Below we see the new user interface:

In this example we will use the WaveformGraph control in Measurement Studio. The source code is the same as in the previous example, except for one new line of code in the Timer Event:
waveformGraph.PlotYAppend(analogDataIn);

The WaveformGraph control has lots of functionality you can set in the Properties window or clicking the Smart Tag Anchor (little arrow in the upper right corner of the control).

Below we see the Properties window (left side) and the Smart Tag Panel (right side) for the WaveformGraph control:

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Trending Data

Tutorial: Data Acquisition in C#

7 Discretization
The next improvements to our application would be to implement a Low-pass Filter in order to remove the noise from the signal when reading the level. Another improvement would be to replace the manual control with a PI controller that do the job for us. Finally it would be nice to have a mathematical model of our water tank so we can simulate and test the behavior of the real system without connect to it. So we need to create discrete versions of the low-pass filter, the PI controller and the process model. We can, e.g., use the Euler Forward discretization method: or the Euler Backward discretization method: is the Sampling Time.

7.1 Low-pass Filter

The transfer function for a first-order low-pass filter may be written: ( ) Where is the time-constant of the filter, ( ) ( ) ( ) is the filter input and ( ) is the filter output.

Discrete version: It can be shown that a discrete version can be stated as: ( Where )

Where

is the Sampling Time.

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Discretization

7.2 PI Controller
A PI controller may be written: ( ) Where is the controller output and ( )

is the control error: ( ) ( ) ( )

Laplace: ( ) PI Controller as a State-space model: We set This gives: ( ) ( )

Where

Discrete version: Using Euler: Where This gives: is the Sampling Time.

Finally:

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Discretization

This algorithm can easily be implemented in C#.

7.3 Process Model

A very simple (linear) model of the water tank is as follows: or Where: [cm] is the level in the water tank [V] is the pump control signal to the pump [cm2] is the cross-sectional area in the tank [(cm3/s)/V] is the pump gain [cm3/s] is the outflow through the valve (this outflow can be modeled more accurately taking into account the valve characteristic expressing the relation between pressure drop across the valve and the flow through the valve). [ ]

We can use the Euler Forward discretization method in order to create a discrete model: Then we get: [ Finally: [ ] ]

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Discretization

7.4 Final Application

We extend our Control Application with a discrete PI controller, a discrete Low-pass filter and a discrete process model, so we can switch between the real process and a simulator. Our User Interface is as follows:

Below we see the Project and Solution in Visual Studio:

Below we will show and describe the important parts of the code. Tutorial: Data Acquisition in C#

32 PI Controller:

Discretization

We create a new Class for our PID algorithm, by right-click in the Solution Explorer (AddNew Item)

The Add New Item window appears:

Select the Class Item and a proper Name, e.g. PidController. The PidController Class is as follows:
class PidController { public double r; //Reference Value public double Kp; //Proportional Gain for PID Controler public double Ti; //Integral Time for PID Controler public double Ts; //Sampling Time

Tutorial: Data Acquisition in C#

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private double z; //Internal variable public double PiController(double y) { double e; // Error between Reference and Measurement double u; // Controller Output //PID Algoritm e = r - y; u = Kp * e + (Kp / Ti) * z; z = z + Ts * e; return u; } }

Discretization

We then initialize the PidController Class:

PidController pidControl = new PidController { Ts=0.1, r=5, Kp=0.8, Ti=15 };

Finally we use the controller:

private void ControlSystem() { //Write Control Value if (switchController.Value == true) //Use Manual Control { controllerOutput = sliderControl.Value; } else // Use PID Control { controllerOutput = pidControl.PiController(levelMeasurement); //Scaling controllerOutput = controllerOutput / 4; //0-20cm -> 0-5V //Set boundaries if (controllerOutput < 0) controllerOutput = 0; if (controllerOutput > 5) controllerOutput = 5; } myDaqData.WriteDaqData(controllerOutput); //Write to DAQ }

Low-pass Filter: We create the Low-pass Filter as a separate Class to:

class Filter { public double yk;

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public double Ts; public double Tf; public double LowPassFilter(double yFromDaq) { double a; double yFiltered; a = Ts / (Ts + Tf); yFiltered = (1 - a) * yk + a * yFromDaq; yk = yFiltered; return yFiltered; } }

Discretization

We then initialize the filter:

Filter filter = new Filter { Ts = 0.1, Tf = 2 };

Finally we use the filter:

// Lowpass filtering the Measure Value due to noise levelMeasurement = filter.LowPassFilter(levelMeasurement);

Discrete Model: We do the same for the discrete model. We have created a Class and a LevelTankModel Method that we use in our simulation:
levelMeasurement = model.LevelTankModel(controllerOutput);

Tutorial: Data Acquisition in C#

8 OPC
In order to communicate with an OPC Server we can use the DataSocket API that is part of the Measurement Studio.

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Appendix A: Source Code

In this Appendix the complete source code for all the examples will be listed.

My First DAQ App

The code for this application is as follows:
using using using using using using using using using using using using NationalInstruments; NationalInstruments.DAQmx; NationalInstruments.UI; NationalInstruments.UI.WindowsForms; System; System.Collections.Generic; System.ComponentModel; System.Data; System.Drawing; System.Linq; System.Text; System.Windows.Forms;

namespace MyFirstDAQApp { public partial class Form1 : Form { public Form1() { InitializeComponent(); } private void Form1_Load(object sender, EventArgs e) { } private void btnGetAnalogIn_Click(object sender, EventArgs e) { Task analogInTask = new Task(); AIChannel myAIChannel; myAIChannel = analogInTask.AIChannels.CreateVoltageChannel( "dev1/ai0", "myAIChannel", AITerminalConfiguration.Differential, 0, 5, AIVoltageUnits.Volts ); AnalogSingleChannelReader reader = new AnalogSingleChannelReader(analogInTask.Stream); double analogDataIn = reader.ReadSingleSample(); txtAnalogIn.Text = analogDataIn.ToString();

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} private void btnWriteAnalogOut_Click(object sender, EventArgs e) { Task analogOutTask = new Task(); AOChannel myAOChannel; myAOChannel = analogOutTask.AOChannels.CreateVoltageChannel( "dev1/ao0", "myAOChannel", 0, 5, AOVoltageUnits.Volts ); AnalogSingleChannelWriter writer = new AnalogSingleChannelWriter(analogOutTask.Stream); double analogDataOut; analogDataOut = Convert.ToDouble(txtAnalogOut.Text); writer.WriteSingleSample(true, analogDataOut);

Discretization

} } }

Control Application
The code for this application is as follows:
using using using using using using using using using using using using NationalInstruments; NationalInstruments.DAQmx; NationalInstruments.UI; NationalInstruments.UI.WindowsForms; System; System.Collections.Generic; System.ComponentModel; System.Data; System.Drawing; System.Linq; System.Text; System.Windows.Forms;

namespace Control_Application { public partial class Form1 : Form { public Form1() { InitializeComponent(); timer1.Start(); } private void timer1_Tick(object sender, EventArgs e) { DaqData myDaqData = new DaqData();

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//Read Data double analogDataIn; analogDataIn = myDaqData.ReadDaqData(); if (analogDataIn analogDataIn if (analogDataIn analogDataIn < = > = 0) 0; 5) 5;

Discretization

//Scaling: analogDataIn = analogDataIn * 4; //0-5V -> 0-20cm tank.Value = analogDataIn; txtLevelValue.Text = analogDataIn.ToString("0.00"); //Write Data double analogDataOut; analogDataOut = sliderControl.Value; myDaqData.WriteDaqData(analogDataOut); } private void button1_Click(object sender, EventArgs e) { Application.Exit(); } } /// <summary> /// Reading and Writing Data from DAQ Device /// </summary> public class DaqData { public double ReadDaqData() { Task analogInTask = new Task(); AIChannel myAIChannel; myAIChannel = analogInTask.AIChannels.CreateVoltageChannel( "dev1/ai0", "myAIChannel", AITerminalConfiguration.Differential, 0, 5, AIVoltageUnits.Volts ); AnalogSingleChannelReader reader = new AnalogSingleChannelReader(analogInTask.Stream); double analogDataIn = reader.ReadSingleSample(); return analogDataIn; } public void WriteDaqData(double analogDataOut) { Task analogOutTask = new Task(); AOChannel myAOChannel; myAOChannel = analogOutTask.AOChannels.CreateVoltageChannel( "dev1/ao0",

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"myAOChannel", 0, 5, AOVoltageUnits.Volts ); AnalogSingleChannelWriter writer = new AnalogSingleChannelWriter(analogOutTask.Stream); writer.WriteSingleSample(true, analogDataOut); } } }

Discretization

Tutorial: Data Acquisition in C#

Telemark University College Faculty of Technology Kjlnes Ring 56 N-3914 Porsgrunn, Norway www.hit.no

Hans-Petter Halvorsen, M.Sc. Telemark University College Department of Electrical Engineering, Information Technology and Cybernetics

Phone: +47 3557 5158 E-mail: [email protected] Blog: http://home.hit.no/~hansha/ Room: B-237a