WriteModulationBuffer

WriteModulationBuffer is a low-level command that writes an AM waveform (&[u8]) to the specified bank and offset.

API

Rust

WriteModulationBuffer { bank, offset, data };

Python

WriteModulationBuffer(bank=bank, offset=offset, data=data)

C#

new WriteModulationBuffer(bank: bank, offset: offset, data: data);

Field	Type	Description
bank	ModulationBank	Destination bank
offset	usize	Start offset for writing within the bank
data	&[u8]	Sequence of AM waveform samples

WriteModulationBuffer writes only what fits in one frame. The limit is WriteModulationBuffer::MAX_LEN; exceeding it is an error when sending.

Example

An example of playing an AM waveform via WriteModulationBuffer → ConfigModulation → ActivateModulationBank (equivalent to the high-level Modulation).

Rust

use autd3_rs::commands::{
    ActivateModulationBank, Clear, ConfigModulation, Synchronize, WriteModulationBuffer,
};
use autd3_rs::geometry::{Autd3, Geometry};
use autd3_rs::units::Hz;
use autd3_rs::value::{LoopBehavior, ModulationBank, SamplingConfig, TransitionMode};
use autd3_rs::Client;
use autd3_rs::udp::TransportOption;
use autd3_rs_modulation::{SineOption, modulation_buffer, sine};

let geometry = Geometry::new(vec![Autd3::default()]);
let option = TransportOption::default();
let mut client = Client::open(&geometry, &option).await?;
client.send(Clear).await?;
client.send(Synchronize).await?;

let mut data = modulation_buffer();
sine(150 * Hz, &SineOption::default(), SamplingConfig::FREQ_4K, &mut data)?;

let bank = ModulationBank::B0;

client.send(WriteModulationBuffer {
    bank,
    offset: 0,
    data: &data,
}).await?;
client.send(ConfigModulation {
    bank,
    config: SamplingConfig::FREQ_4K,
    size: data.len(),
    loop_behavior: LoopBehavior::Infinite,
}).await?;
client.send(ActivateModulationBank {
    bank,
    transition_mode: TransitionMode::Immediate,
}).await?;

Python

import asyncio

from autd3 import Client, TransportOption
from autd3.commands import ActivateModulationBank, Clear, ConfigModulation, Synchronize, WriteModulationBuffer
from autd3.geometry import Autd3, Geometry
from autd3.units import Hz
from autd3.value import LoopBehavior, ModulationBank, SamplingConfig, TransitionMode
from autd3_modulation import SineOption, modulation_buffer, sine


async def main() -> None:
    geometry = Geometry([Autd3()])
    with await Client.open(geometry, TransportOption()) as client:
        await client.send(Clear())
        await client.send(Synchronize())

        data = modulation_buffer()
        sine(150 * Hz, SineOption(), SamplingConfig.FREQ_4K, data)

        bank = ModulationBank.B0

        await client.send(
            WriteModulationBuffer(
                bank=bank,
                offset=0,
                data=data,
            )
        )
        await client.send(
            ConfigModulation(
                bank=bank,
                config=SamplingConfig.FREQ_4K,
                size=len(data),
                loop_behavior=LoopBehavior.Infinite,
            )
        )
        await client.send(
            ActivateModulationBank(
                bank=bank,
                transition_mode=TransitionMode.Immediate,
            )
        )


asyncio.run(main())

C#

using System.Threading.Tasks;
using AUTD3;
using static AUTD3.Units;

var geometry = new Geometry(new[] { new Autd3() });
using var client = await Client.OpenAsync(geometry, new TransportOption());
await client.SendAsync(new Clear());
await client.SendAsync(new Synchronize());

var data = Modulation.ModulationBuffer();
Modulation.Sine(150 * Hz, new SineOption(), SamplingConfig.Freq4k, data);

var bank = ModulationBank.B0;

await client.SendAsync(new WriteModulationBuffer(
    bank: bank,
    offset: 0,
    data: data
));
await client.SendAsync(new ConfigModulation(
    bank: bank,
    config: SamplingConfig.Freq4k,
    size: (uint)data.Length,
    loopBehavior: LoopBehavior.Infinite
));
await client.SendAsync(new ActivateModulationBank(
    bank: bank,
    transitionMode: TransitionMode.Immediate
));