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Fix pulse time #93

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Merged
micahwoodard merged 14 commits into from
Jun 30, 2026
Merged

Fix pulse time #93

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a92e79e
adds SetRewardAmount subject"
micahwoodard Jun 10, 2026
6747b85
regroups visualizers
micahwoodard Jun 10, 2026
07306f3
sets set reward time to unit
micahwoodard Jun 10, 2026
e1f8538
replaces zip with WithLatestFrom
micahwoodard Jun 10, 2026
dcf60cd
fixes copy paste error
micahwoodard Jun 10, 2026
f16300c
sets right and left reward amount independently
micahwoodard Jun 10, 2026
842b528
resets calibration independently
micahwoodard Jun 10, 2026
8c70018
makes SetRightRewardAmount a bool,float
micahwoodard Jun 15, 2026
c6b6085
set flush volume to 50ul
micahwoodard Jun 29, 2026
374f094
Cleanup valve timing logic
bruno-f-cruz Jun 29, 2026
be5340b
Consistency in naming convention
bruno-f-cruz Jun 29, 2026
fadb1a0
fixes valve wait time
svc-aind-behavior Jun 29, 2026
89c2540
Merge branch 'fix-pulse-time' of https://github.com/AllenNeuralDynami…
svc-aind-behavior Jun 29, 2026
6430a6b
remove millisecond conversion
svc-aind-behavior Jun 30, 2026
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305 changes: 161 additions & 144 deletions src/Extensions/OperationControl.bonsai
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Original file line number Diff line number Diff line change
Expand Up @@ -348,10 +348,30 @@
<Workflow>
<Nodes>
<Expression xsi:type="SubscribeSubject">
<Name>TaskLogicParameters</Name>
<Name>SetIsRightRewardAmount</Name>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>IsLeft</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="BitwiseNot" />
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>RewardSize.LeftValueVolume</Selector>
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
Expand Down Expand Up @@ -387,10 +407,28 @@
<Name>SetIsRightValveMs</Name>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>TaskLogicParameters</Name>
<Name>SetIsRightRewardAmount</Name>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>IsRight</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>RewardSize.RightValueVolume</Selector>
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>RigSchema</Name>
Expand Down Expand Up @@ -425,39 +463,130 @@
<Expression xsi:type="MulticastSubject">
<Name>SetIsRightValveMs</Name>
</Expression>
<Expression xsi:type="rx:BehaviorSubject" TypeArguments="sys:Tuple(sys:Boolean,sys:Double)">
<rx:Name>SetIsRightValveMs</rx:Name>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>gt0</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="GreaterThan">
<Operand xsi:type="DoubleProperty">
<Value>0</Value>
</Operand>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>IsRight</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="beh:Format">
<harp:MessageType>Write</harp:MessageType>
<harp:Register xsi:type="beh:PulseSupplyPort1" />
</Expression>
<Expression xsi:type="rx:Condition">
<Name>IsLeft</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="BitwiseNot" />
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="beh:Format">
<harp:MessageType>Write</harp:MessageType>
<harp:Register xsi:type="beh:PulseSupplyPort0" />
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Merge" />
</Expression>
<Expression xsi:type="MulticastSubject">
<Name>HarpBehaviorCommands</Name>
</Expression>
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="4" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
<Edge From="3" To="4" Label="Source2" />
<Edge From="4" To="5" Label="Source1" />
<Edge From="5" To="7" Label="Source1" />
<Edge From="6" To="7" Label="Source2" />
<Edge From="7" To="8" Label="Source1" />
<Edge From="7" To="9" Label="Source2" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="5" Label="Source1" />
<Edge From="3" To="4" Label="Source1" />
<Edge From="4" To="5" Label="Source2" />
<Edge From="5" To="6" Label="Source1" />
<Edge From="6" To="8" Label="Source1" />
<Edge From="7" To="8" Label="Source2" />
<Edge From="8" To="9" Label="Source1" />
<Edge From="8" To="10" Label="Source2" />
<Edge From="9" To="10" Label="Source1" />
<Edge From="11" To="12" Label="Source1" />
<Edge From="12" To="15" Label="Source1" />
<Edge From="10" To="11" Label="Source1" />
<Edge From="12" To="13" Label="Source1" />
<Edge From="13" To="14" Label="Source1" />
<Edge From="14" To="15" Label="Source2" />
<Edge From="14" To="17" Label="Source1" />
<Edge From="15" To="16" Label="Source1" />
<Edge From="16" To="18" Label="Source1" />
<Edge From="17" To="18" Label="Source2" />
<Edge From="18" To="19" Label="Source1" />
<Edge From="18" To="20" Label="Source2" />
<Edge From="19" To="20" Label="Source1" />
<Edge From="16" To="17" Label="Source2" />
<Edge From="17" To="18" Label="Source1" />
<Edge From="18" To="20" Label="Source1" />
<Edge From="19" To="20" Label="Source2" />
<Edge From="20" To="21" Label="Source1" />
<Edge From="20" To="22" Label="Source2" />
<Edge From="21" To="22" Label="Source1" />
<Edge From="22" To="23" Label="Source1" />
<Edge From="24" To="25" Label="Source1" />
<Edge From="25" To="26" Label="Source1" />
<Edge From="25" To="29" Label="Source1" />
<Edge From="26" To="27" Label="Source1" />
<Edge From="27" To="28" Label="Source1" />
<Edge From="28" To="32" Label="Source1" />
<Edge From="29" To="30" Label="Source1" />
<Edge From="30" To="31" Label="Source1" />
<Edge From="31" To="32" Label="Source2" />
<Edge From="32" To="33" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>HarpBehaviorEvents</Name>
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:SubscribeWhen" />
</Expression>
<Expression xsi:type="SubscribeSubject">
<Name>GiveRewardRight</Name>
</Expression>
Expand Down Expand Up @@ -506,128 +635,16 @@
<Expression xsi:type="MulticastSubject">
<Name>HarpBehaviorCommands</Name>
</Expression>
<Expression xsi:type="rx:BehaviorSubject" TypeArguments="sys:Tuple(sys:Boolean,sys:Double)">
<rx:Name>SetIsRightValveMs</rx:Name>
</Expression>
<Expression xsi:type="rx:Condition">
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>gt0</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="GreaterThan">
<Operand xsi:type="DoubleProperty">
<Value>0</Value>
</Operand>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="beh:Format">
<harp:MessageType>Write</harp:MessageType>
<harp:Register xsi:type="beh:PulseSupplyPort1" />
</Expression>
<Expression xsi:type="rx:Condition">
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item1</Selector>
</Expression>
<Expression xsi:type="BitwiseNot" />
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="MemberSelector">
<Selector>Item2</Selector>
</Expression>
<Expression xsi:type="rx:Condition">
<Name>gt0</Name>
<Workflow>
<Nodes>
<Expression xsi:type="WorkflowInput">
<Name>Source1</Name>
</Expression>
<Expression xsi:type="GreaterThan">
<Operand xsi:type="DoubleProperty">
<Value>0</Value>
</Operand>
</Expression>
<Expression xsi:type="WorkflowOutput" />
</Nodes>
<Edges>
<Edge From="0" To="1" Label="Source1" />
<Edge From="1" To="2" Label="Source1" />
</Edges>
</Workflow>
</Expression>
<Expression xsi:type="beh:Format">
<harp:MessageType>Write</harp:MessageType>
<harp:Register xsi:type="beh:PulseSupplyPort0" />
</Expression>
<Expression xsi:type="Combinator">
<Combinator xsi:type="rx:Merge" />
</Expression>
<Expression xsi:type="MulticastSubject">
<Name>HarpBehaviorCommands</Name>
</Expression>
</Nodes>
<Edges>
<Edge From="1" To="3" Label="Source1" />
<Edge From="2" To="3" Label="Source2" />
<Edge From="4" To="5" Label="Source1" />
<Edge From="4" To="7" Label="Source1" />
<Edge From="2" To="3" Label="Source1" />
<Edge From="2" To="5" Label="Source1" />
<Edge From="3" To="4" Label="Source1" />
<Edge From="4" To="8" Label="Source1" />
<Edge From="5" To="6" Label="Source1" />
<Edge From="6" To="10" Label="Source1" />
<Edge From="7" To="8" Label="Source1" />
<Edge From="6" To="7" Label="Source1" />
<Edge From="7" To="8" Label="Source2" />
<Edge From="8" To="9" Label="Source1" />
<Edge From="9" To="10" Label="Source2" />
<Edge From="10" To="11" Label="Source1" />
<Edge From="12" To="13" Label="Source1" />
<Edge From="12" To="17" Label="Source1" />
<Edge From="13" To="14" Label="Source1" />
<Edge From="14" To="15" Label="Source1" />
<Edge From="15" To="16" Label="Source1" />
<Edge From="16" To="21" Label="Source1" />
<Edge From="17" To="18" Label="Source1" />
<Edge From="18" To="19" Label="Source1" />
<Edge From="19" To="20" Label="Source1" />
<Edge From="20" To="21" Label="Source2" />
<Edge From="21" To="22" Label="Source1" />
</Edges>
</Workflow>
</Expression>
Expand Down
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