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

Example

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

Rust

use autd3_rs::commands::{ChangeModulationBank, ConfigModulation, WriteModulationBuffer};
use autd3_rs::geometry::{Autd3, Geometry};
use autd3_rs::units::Hz;
use autd3_rs::value::{LoopBehavior, ModulationBank, SamplingConfig, TransitionMode};
use autd3_rs::{Client, ClientConfig};
use autd3_rs_link_nop::Nop;
use autd3_rs_modulation::{SineOption, modulation_buffer, sine};

let geometry = Geometry::new(vec![Autd3::default()]);
let client = Client::open(&geometry, Nop, ClientConfig::default()).await?;

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

let bank = ModulationBank::B0;

let mut builder = client.datagram_builder();
builder.push(WriteModulationBuffer {
    bank,
    offset: 0,
    data: &data,
});
builder.push(ConfigModulation {
    bank,
    config: SamplingConfig::FREQ_4K,
    size: data.len(),
    loop_behavior: LoopBehavior::Infinite,
});
builder.push(ChangeModulationBank {
    bank,
    transition_mode: TransitionMode::Immediate,
});
let frames = builder.build()?;
for frame in &frames {
    client.send_checked(frame).await?;
}

client.close().await?;

Python

import asyncio

from autd3 import Client, ClientConfig
from autd3.commands import ChangeModulationBank, ConfigModulation, WriteModulationBuffer
from autd3.geometry import Autd3, Geometry
from autd3.units import Hz
from autd3.value import LoopBehavior, ModulationBank, SamplingConfig, TransitionMode
from autd3_link_nop import Nop
from autd3_modulation import SineOption, modulation_buffer, sine


async def main() -> None:
    geometry = Geometry([Autd3([0.0, 0.0, 0.0], [1.0, 0.0, 0.0, 0.0])])
    client = await Client.open(geometry, Nop(), ClientConfig())

    data = modulation_buffer()
    sine(150.0 * Hz, SineOption(), data)

    bank = ModulationBank.B0

    builder = client.datagram_builder()
    builder.push(
        WriteModulationBuffer(
            bank=bank,
            offset=0,
            data=data,
        )
    )
    builder.push(
        ConfigModulation(
            bank=bank,
            config=SamplingConfig.FREQ_4K,
            size=len(data),
            loop_behavior=LoopBehavior.Infinite,
        )
    )
    builder.push(
        ChangeModulationBank(
            bank=bank,
            transition_mode=TransitionMode.Immediate,
        )
    )
    frames = builder.build()
    for frame in frames:
        await client.send_checked(frame)

    await client.close()


asyncio.run(main())

C#

using System.Numerics;
using System.Threading.Tasks;
using AUTD3;
using AUTD3.Link;
using Nop = AUTD3.Link.Nop;
using static AUTD3.Units;

var geometry = new Geometry(new[] { new Autd3(Vector3.Zero) });
var client = await Client.OpenAsync(geometry, new Nop(), new ClientConfig());

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

var bank = ModulationBank.B0;

var builder = client.DatagramBuilder();
builder.Push(new WriteModulationBuffer(
    bank: bank,
    offset: 0,
    data: data
));
builder.Push(new ConfigModulation(
    bank: bank,
    config: SamplingConfig.Freq4k,
    size: (uint)data.Length,
    loopBehavior: LoopBehavior.Infinite
));
builder.Push(new ChangeModulationBank(
    bank: bank,
    transitionMode: TransitionMode.Immediate
));
var frames = builder.Build();
foreach (var frame in frames)
{
    await client.SendCheckedAsync(frame);
}

await client.CloseAsync();