From e3d87a1392059038b76575d91ebd7102ea47073b Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 15 Apr 2023 15:45:50 -0700
Subject: [PATCH 1/9] Worked on power supply stuff

---
 main.py        | 10 ++++------
 powerSupply.py | 15 +++++++++++----
 2 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/main.py b/main.py
index cb91954..0eefc3a 100644
--- a/main.py
+++ b/main.py
@@ -48,12 +48,12 @@
 except AttributeError as e:
     logger.fatal("Failed to connect to odrive controller: " + str(e))
     logger.info("Shutting off the power supply.")
-    powerSupply.write(":OUTP CH1,OFF") # Turn off the power supply
+    powerSupply.disable() # Turn off the power supply
     sys_exit(-1)
 except NotImplementedError as e:
     logger.fatal("Error when connecting odrive controller du to incomplete script (Yes, you may blame programming this time): " + str(e))
     logger.info("Shutting off the power supply.")
-    powerSupply.write(":OUTP CH1,OFF") # Turn off the power supply
+    powerSupply.disable() # Turn off the power supply
     sys_exit(-1)
 
 # Connect to & Configure Multimeter
@@ -66,16 +66,14 @@
 
 # To start:
 
-#"""
+"""s
 try:
     motor1.startSensorless()
 except SystemExit as e:
     logger.debug("Failed to start motor: " + str(e))
     logger.info("Shutting off the power supply.")
-    powerSupply.write(":OUTP CH1,OFF") # Turn off the power supply
+    powerSupply.disable() # Turn off the power supply
     sys_exit(-1)
-
-
 #"""
 # TODO: finish
 
diff --git a/powerSupply.py b/powerSupply.py
index 468aeeb..6daea29 100644
--- a/powerSupply.py
+++ b/powerSupply.py
@@ -45,7 +45,7 @@ def __init__(self, port, voltage, current):
             #raise e
         # Get PS information
         logger.info("Connected to: " + self.powerSupply.query("*IDN?"))
-        logger.debug("Power supply last self test results: " + self.powerSupply.query("**TST?"))
+        logger.debug("Power supply last self test results: " + self.powerSupply.query("*TST?"))
         logger.debug("Power supply Ch. 1 output mode: " + self.powerSupply.query(":OUTPut:MODE?"))
         logger.debug("Power supply Ch. 1 OCP state: " + self.powerSupply.query(":OUTPut:OCP? CH1"))
         logger.debug("Power supply Ch. 1 OCP value: " + self.powerSupply.query(":OUTP:OCP:VAL? CH1"))
@@ -56,14 +56,14 @@ def __init__(self, port, voltage, current):
 
         # Send a message to be displayed for fun and to make it obvious that it's being remote controlled
         self.powerSupply.write(':DISPlay:TEXT "CONNECTED TO DYNAMOTOR TEST APPLICATION",10,10')
-        time_sleep(2)
+        time_sleep(2.5)
         self.powerSupply.write(":DISPlay:TEXT:CLEar")
 
         # Set parameters
         self.PS_VOLTAGE = voltage  # 12.0
         self.PS_CURRENT = current # 3.0
-        logger.info("Target power supply voltage: " + self.PS_VOLTAGES_VOLTAGE)
-        logger.info("Target power supply current: " + self.PS_CURRENT)
+        logger.info("Target power supply voltage: " + str(self.PS_VOLTAGE))
+        logger.info("Target power supply current: " + str(self.PS_CURRENT))
         self.powerSupply.write(":APPLy CH1,12.0,3.0")
 
         # Verify parameters
@@ -96,6 +96,7 @@ def disable(self):
         """
         Turns channel 1 off
         """
+        logger.info("Turning ps channel 1 off.")
         self.powerSupply.write(":OUTP CH1,OFF")
 
     # Get data
@@ -115,6 +116,8 @@ def getOutputVoltage(self):
         Fetches the last known output voltage of the power supply
 
         Run updateOutputStats() to update this value
+
+        @returns The last known output voltage of the power supply
         """
         return self.output_voltage
 
@@ -123,6 +126,8 @@ def getOutputCurrent(self):
         Fetches the last known output current of the power supply
 
         Run updateOutputStats() to update this value
+
+        @returns The last known output current of the power supply
         """
         return self.output_current
     
@@ -131,6 +136,8 @@ def getOutputPower(self):
         Fetches the last known output power of the power supply
 
         Run updateOutputStats() to update this value
+
+        @returns The last known output power of the power supply
         """
         return self.output_power
 

From da4255ce2a7a4933f0fb0beaa9d1c7be19499a84 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 15 Apr 2023 15:46:31 -0700
Subject: [PATCH 2/9] Found electronic load file

---
 electronicLoad.py | 165 ++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 165 insertions(+)
 create mode 100644 electronicLoad.py

diff --git a/electronicLoad.py b/electronicLoad.py
new file mode 100644
index 0000000..360074d
--- /dev/null
+++ b/electronicLoad.py
@@ -0,0 +1,165 @@
+# Imports - logger
+import logging
+import logger
+
+# Imports - exit handling
+from sys import exit as sys_exit
+
+# Imports - delays
+from time import sleep as time_sleep
+
+# Imports - control
+import easy_scpi as scpi
+import pyvisa
+
+
+# Start Logger
+logger = logging.getLogger("DynamometerControl")
+logger.setLevel(logging.DEBUG)
+
+# easy_scpi Docs: https://pypi.org/project/easy-scpi/
+"""
+# TODO: Figure out how to extend Pythong classes?s
+class SDL1020X(scpi.Instrument):
+    def __init__(self):
+        pass
+"""
+
+class SDL1020X:
+    def __init__(self, port):
+        """
+        Wrapper object for easy_scpi.Instrument object to control a Siglent SDL1020X-E 200W electronic load over SCPI
+        Does not auto configure the instrument
+        
+        @param port (String) USB port to connect to
+        """
+        # Connect to Electronic load
+        try:
+            self.instrument = scpi.Instrument(port=port)
+            #ps = KATVisaRM.open_resource("")
+            self.instrument.connect()
+        except pyvisa.errors.VisaIOError as e:
+            logger.fatal("Failed to connect to power supply: " + str(e))
+            sys_exit(-1)
+            #raise e
+        # Get PS information
+        logger.info("Connected to: " + self.instrument.query("*IDN?"))
+        logger.debug("Power supply last self test results: " + self.instrument.query("**TST?")) # NOt used?
+
+        # It doesn't support displaying messages :(
+
+        raise NotImplementedError
+
+    # Configure
+    def configureConstantResistance(self, resistance, currentRange, voltageRange, resistorRange):
+        """
+        @param resistorRange {LOW | MIDDLE | HIGH | UPPER}
+        """
+        self.EL_static_mode = "CR"
+        logger.info("Electronic static mode: " + str(self.EL_static_mode))
+        self.EL_resistance = resistance
+        logger.info("Target electronic load resistance: " + str(self.EL_resistance))
+        self.EL_currentRange = currentRange
+        logger.info("Target electronic load current range: " + str(self.EL_currentRange))
+        self.EL_voltageRange = voltageRange
+        logger.info("Target electronic load voltage range: " + str(self.EL_voltageRange))
+        self.EL_resistorRange = resistorRange
+        logger.info("Target electronic load resistor range: " + str(self.EL_resistorRange))
+
+        self.instrument.write(":SOURce:FUNCtion ") + str(self.EL_static_mode)
+        self.instrument.write(":SOURce: RESistance:LEVel:IMMediate ") + str(self.EL_resistance)
+        self.instrument.write(":SOURce:RESistance:IRANGe ") + str(self.EL_currentRange)
+        self.instrument.write(":SOURce:RESistance:VRANGe ") + str(self.EL_voltageRange)
+        self.instrument.write(":SOURce:RESistance:RRANGe ") + str(self.EL_resistorRange)
+
+        self.EL_OCP = "ON"
+        logger.info("Target Electronic load OCP: " + str(self.EL_OCP))
+        self.instrument.write(":SOURce:CURRent:PROTection:STATe ") + str(self.EL_OCP)
+        raise NotImplementedError
+    
+        # TODO: Left off on pg 52
+
+    # Verify configurations
+    def verifyConfig(self):
+        logger.debug("Electronic load CR resistor value: " + str(self.instrument.query(":SOURce:FUNCtion?")))
+        logger.debug("Electronic load CR resistor value: " + str(self.instrument.query(":SOURce:RESistance:LEVel:IMMediate?")))
+        logger.debug("Electronic load CR current range value: " + str(self.instrument.query(":SOURce:RESistance:IRANGe?")))
+        logger.debug("Electronic load CR voltage range value: " + str(self.instrument.query(":SOURce:RESistance:VRANGe?")))
+        logger.debug("Electronic load CR resistor range value: " + str(self.instrument.query(":SOURce:RESistance:RRANGe?")))
+
+        logger.debug("Electronic load OCP state: " + self.powerSupply.query(":SOURce:CURRent:PROTection:STATe?")) # Not sure, this wasn't how it was in the manuel but it makes more since
+        raise NotImplementedError
+        # Verify parameters
+        logger.debug("Power supply Ch. 1 OCP value: " + self.powerSupply.query(":OUTP:OCP:VAL? CH1"))
+        logger.debug("Power supply Ch. 1 OVP state: " + self.powerSupply.query(":OUTP:OVP? CH1"))
+        logger.debug("Power supply Ch. 1 OVP value: " + self.powerSupply.query(":OUTP:OVP:VAL? CH1"))    
+        logger.debug("Power supply OTP state: " + self.powerSupply.query(":SYSTem:OTP?"))
+        logger.debug("Power supply system version: " + self.powerSupply.query(":SYSTem:VERSion?"))
+        
+
+    # Control
+    def enable(self):
+        """
+        Enable the input of the electronic load.  Make sure it is configured first.
+        """
+        logger.info("Turning the load input on.")
+        self.instrument.write(":SOURce:INPut:STATe ON")
+
+    def disable(self):
+        """
+        Disables the input of the electronic load
+        """
+        logger.info("Turning the load input off.")
+        self.instrument.write(":SOURce:INPut:STATe OFF")
+
+    # Get data
+    def getLoadVoltage(self):
+        """
+        Fetches the input voltage from the electronic load
+
+        @returns the input voltage from the electronic load
+        """
+        self.load_voltage = self.instrument.query(":MEASure:VOLTage:DC?")
+        logger.debug("Electronic load voltage : " + str(self.load_voltage))
+        return self.load_voltage
+
+    def getLoadCurrent(self):
+        """
+        Fetches the input current from the electronic load
+
+        @returns the input current from the electronic load
+        """
+        self.load_current = self.instrument.query(":MEASure:CURRent:DC?")
+        logger.debug("Electronic load current : " + str(self.load_current))
+        return self.load_current
+    
+    def getLoadPower(self):
+        """
+        Fetches the input power from the electronic load
+
+        @returns the input power  from the electronic load
+        """
+        self.load_power = self.instrument.query(":MEASure:POWer:DC?")
+        logger.debug("Electronic load current : " + str(self.load_power))
+        return self.load_power
+
+    def getLoadResistance(self):
+        """
+        Fetches the input power from the electronic load
+
+        @returns the input power  from the electronic load
+        """
+        self.load_resistance = self.instrument.query(":MEASure:POWer:DC?")
+        logger.debug("Electronic load current : " + str(self.load_resistance))
+        return self.load_resistance
+
+    def testStepNumber(self):
+        """
+        "Query the number of running step in the LIST/PROGRAM test sequence."
+
+        @returns "the number of running step in the LIST/PROGRAM test sequence."
+        """
+        self.load_step_number = self.instrument.query(":SOURce:TEST:STEP?")
+        logger.debug("Electronic step number: " + str(self.load_step_number))
+        return self.load_step_number
+

From a08247560d9cfaf444044fbe59aebd86ffebfb2d Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 14:56:14 -0700
Subject: [PATCH 3/9] Worked on implementing wind tunnel testing

---
 DynamometerControl.code-workspace |   2 +
 main.py                           | 182 +++++++++++++++++++-----------
 odriveMotorController.py          |  18 +++
 3 files changed, 138 insertions(+), 64 deletions(-)

diff --git a/DynamometerControl.code-workspace b/DynamometerControl.code-workspace
index 74c837f..fc62ddc 100644
--- a/DynamometerControl.code-workspace
+++ b/DynamometerControl.code-workspace
@@ -9,12 +9,14 @@
 	],
 	"settings": {
 		"cSpell.words": [
+			"DYNO",
 			"highlevel",
 			"odrive",
 			"odrv",
 			"pyvisa",
 			"Rigol",
 			"scpi",
+			"Sensorless",
 			"Siglent",
 			"visalib"
 		]
diff --git a/main.py b/main.py
index 0eefc3a..ed985ab 100644
--- a/main.py
+++ b/main.py
@@ -5,88 +5,142 @@
 # Imports - Handle exiting
 from sys import exit as sys_exit
 
-# Imports - Control
-from odriveMotorController import odriveMotorController
-import easy_scpi as scpi
-import pyvisa
-from powerSupply import DP832
-
-
 # Start Logger
 logger = logging.getLogger("DynamometerControl")
 logger.setLevel(logging.DEBUG)
 
-# VISA Configuration
-# TODO: Unended if using easy_scpi
-# https://pypi.org/project/easy-scpi/
-# https://pyvisa.readthedocs.io/en/latest/introduction/configuring.html
-
-# Keysight / Agilent Technologies VISA
-#KATVisaRM = pyvisa.highlevel.ResourceManager("C:\\Program Files (x86)\\IVI Foundation\\VISA\\WinNT\\agvisa\\agbin\\visa32.dll")
-KATVisaRM = pyvisa.highlevel.ResourceManager()
-#a = pyvisa.ResourceManager() #? # Alt method? # TODO
-
-logger.info("Keysight / Agilent Technologies VISA: " + str(KATVisaRM.visalib))
-logger.info("Keysight / Agilent Technologies VISA Resources: " + str(KATVisaRM.list_resources()))
+## CONFIG
+CONTROLLER_ENABLE = True
+PS_ENABLE = False
+MULTIMETER_ENABLE = False
+LOAD_ENABLE = False
+#TEST_MODE = "DYNO"
+TEST_MODE = "TUNNEL"
 
-# National Instruments VISA
-NI_VISA = 'C:\\Windows\\system32\\visa32.dll'
-NIVisaRM = pyvisa.highlevel.ResourceManager(NI_VISA)
-logger.info("National Instruments VISA: " + str(NIVisaRM.visalib))
-logger.info("National Instruments VISA Resources: " + str(NIVisaRM.list_resources()))
+logger.info("Test Config: CONTROLLER_ENABLE=%s, PS_ENABLE=%s, MULTIMETER_ENABLE=%s, LOAD_ENABLE=%s", CONTROLLER_ENABLE, PS_ENABLE, MULTIMETER_ENABLE, LOAD_ENABLE)
 
+# Imports - Control
+if CONTROLLER_ENABLE:
+    logger.debug("Importing odriveMotorController")
+    from odriveMotorController import odriveMotorController
+if PS_ENABLE or MULTIMETER_ENABLE or LOAD_ENABLE:
+    logger.debug("Importing easy_scpi and pyvisa")
+    import easy_scpi as scpi
+    import pyvisa
+    if PS_ENABLE:
+        logger.debug("Importing powerSupply")
+        from powerSupply import DP832
+
+# Warn if PS Control unavailable
+if (not PS_ENABLE) and CONTROLLER_ENABLE:
+    logger.warning("Controller enabled without power supply!  Power shutoff on error unavailable.")
 
-# Connect to & Configure Power supply
-powerSupply = DP832("USB0", 12.0, 3.0)
-powerSupply.enable()
+# VISA Configuration
+if PS_ENABLE or MULTIMETER_ENABLE or LOAD_ENABLE:
+    # VISA Configuration
+    # TODO: Unended if using easy_scpi
+    # https://pypi.org/project/easy-scpi/
+    # https://pyvisa.readthedocs.io/en/latest/introduction/configuring.html
+
+    # Keysight / Agilent Technologies VISA
+    if PS_ENABLE or MULTIMETER_ENABLE:
+        #KATVisaRM = pyvisa.highlevel.ResourceManager("C:\\Program Files (x86)\\IVI Foundation\\VISA\\WinNT\\agvisa\\agbin\\visa32.dll")
+        KATVisaRM = pyvisa.highlevel.ResourceManager()
+        #a = pyvisa.ResourceManager() #? # Alt method? # TODO
+
+        logger.info("Keysight / Agilent Technologies VISA: " + str(KATVisaRM.visalib))
+        logger.info("Keysight / Agilent Technologies VISA Resources: " + str(KATVisaRM.list_resources()))
+
+    # National Instruments VISA
+    if LOAD_ENABLE:
+        NI_VISA = 'C:\\Windows\\system32\\visa32.dll'
+        NIVisaRM = pyvisa.highlevel.ResourceManager(NI_VISA)
+        logger.info("National Instruments VISA: " + str(NIVisaRM.visalib))
+        logger.info("National Instruments VISA Resources: " + str(NIVisaRM.list_resources()))
+
+
+    # Connect to & Configure Power supply
+    if PS_ENABLE:
+        powerSupply = DP832("USB0", 12.0, 3.0)
+        powerSupply.enable()
+
+def PSSafeShutdown():
+    if PS_ENABLE:
+        powerSupply.disable()
+    else:
+        logger.critical("Power Supply control not enabled.  FAILED TO SHUTOFF POWER.")
 
 # Connect to & Configure Odrive motor controller
-try:
-    motor1 = odriveMotorController()
-    motor1.configure()
-    motor1.verifyConfig()
-except AttributeError as e:
-    logger.fatal("Failed to connect to odrive controller: " + str(e))
-    logger.info("Shutting off the power supply.")
-    powerSupply.disable() # Turn off the power supply
-    sys_exit(-1)
-except NotImplementedError as e:
-    logger.fatal("Error when connecting odrive controller du to incomplete script (Yes, you may blame programming this time): " + str(e))
-    logger.info("Shutting off the power supply.")
-    powerSupply.disable() # Turn off the power supply
-    sys_exit(-1)
+if CONTROLLER_ENABLE:
+    try:
+        motor1 = odriveMotorController()
+        #motor1.configure() #TODO
+        motor1.verifyConfig()
+    except AttributeError as e:
+        logger.fatal("Failed to connect to odrive controller: " + str(e))
+        logger.info("Shutting off the power supply.")
+        PSSafeShutdown()
+        sys_exit(-1)
+    except NotImplementedError as e:
+        logger.fatal("Error when connecting odrive controller du to incomplete script (Yes, you may blame programming this time): " + str(e))
+        logger.info("Shutting off the power supply.")
+        PSSafeShutdown()
+        sys_exit(-1)
+
+def ControllerSafeShutdown():
+    ## TODO: Verify that this is correct
+    if CONTROLLER_ENABLE:
+        motor1.stop()
 
 # Connect to & Configure Multimeter
-multimeter = scpi.Instrument(port=None)
-# TODO: finish
+if MULTIMETER_ENABLE:
+    multimeter = scpi.Instrument(port=None)
+    # TODO: finish
 
 # Connect to & Configure Digital Load
-load = scpi.Instrument(port=None, backend=NI_VISA)
-# TODO: finish
+if LOAD_ENABLE:
+    load = scpi.Instrument(port=None, backend=NI_VISA)
+    # TODO: finish
 
 # To start:
-
-"""s
-try:
-    motor1.startSensorless()
-except SystemExit as e:
-    logger.debug("Failed to start motor: " + str(e))
-    logger.info("Shutting off the power supply.")
-    powerSupply.disable() # Turn off the power supply
-    sys_exit(-1)
-#"""
-# TODO: finish
+if CONTROLLER_ENABLE:
+    if TEST_MODE == "DYNO":
+        raise NotImplementedError
+        try:
+            motor1.startSensorless()
+        except SystemExit as e:
+            logger.debug("Failed to start motor: " + str(e))
+            logger.info("Shutting off the power supply.")
+            PSSafeShutdown()
+            sys_exit(-1)
+        # TODO: finish
+    elif TEST_MODE == "TUNNEL":
+        try:
+            motor1.startSensorless()
+        except SystemExit as e:
+            logger.debug("Failed to start motor: " + str(e))
+            logger.info("Shutting off the power supply.")
+            PSSafeShutdown()
+            sys_exit(-1)
 
 # Main loop
 #"""
-powerSupply.updateOutputStats()
-powerSupply.getOutputVoltage()
-powerSupply.getOutputCurrent()
-powerSupply.getOutputPower()
+
 #"""
 
-# Stop
-## TODO: Verify that this is correct
-motor1.stop()
-powerSupply.disable()
+
+try:
+    while True:
+        if CONTROLLER_ENABLE:
+            motor1.getDCBusVoltage()
+            motor1.getDCBusCurrent()
+        if PS_ENABLE:
+            powerSupply.updateOutputStats()
+            powerSupply.getOutputVoltage()
+            powerSupply.getOutputCurrent()
+            powerSupply.getOutputPower()
+except KeyboardInterrupt as e :
+    logger.fatal("Shutting down due to keyboard Interrupt: ", e)
+    ControllerSafeShutdown()
+    PSSafeShutdown()
 
diff --git a/odriveMotorController.py b/odriveMotorController.py
index 27ddf47..05b6ebe 100644
--- a/odriveMotorController.py
+++ b/odriveMotorController.py
@@ -189,3 +189,21 @@ def stop(self):
         """
         self.setVelocity(0)
 
+    def getDCBusVoltage(self):
+        """
+        @return Voltage on the DC bus as measured by the ODrive.
+        """
+        temp = self.odrv0.vbus_voltage
+        logger.debug("DCBusVoltage: " + temp)
+        return 
+
+    def getDCBusCurrent(self):
+        """
+        @return Current on the DC bus as calculated by the ODrive.
+            A positive value means that the ODrive is consuming power from the power supply, a negative value means that the ODrive is sourcing power to the power supply.
+        This value is equal to the sum of the motor currents and the brake resistor currents. The motor currents are measured, the brake resistor current is calculated based on config.brake_resistance.
+
+        """
+        temp = self.odrv0.ibus
+        return logger.debug("DCBusCurrent: " + temp)
+

From 381e7bed37598062f028782bbc512a23e7ee2796 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 15:59:16 -0700
Subject: [PATCH 4/9] Worked on data recording

---
 DataRecorder.py                      | 35 ++++++++++++++++++++++++++++
 main.py                              | 11 +++++++--
 output/data-2023-04-22__15-58-35.csv |  2 ++
 3 files changed, 46 insertions(+), 2 deletions(-)
 create mode 100644 DataRecorder.py
 create mode 100644 output/data-2023-04-22__15-58-35.csv

diff --git a/DataRecorder.py b/DataRecorder.py
new file mode 100644
index 0000000..ad05d11
--- /dev/null
+++ b/DataRecorder.py
@@ -0,0 +1,35 @@
+# Imports - Logging
+import logger
+import logging
+
+# Start Logger
+logger = logging.getLogger("DynamometerControl")
+logger.setLevel(logging.DEBUG)
+
+# Other imports
+import csv
+from  datetime import datetime as datetime
+
+class DataRecorder:
+    def __init__(self):
+        current_time = datetime.now().strftime('%Y-%m-%d__%H-%M-%S')
+        self.filePath = "output/data-" + current_time + ".csv"
+        logger.info("Saving data to :" + self.filePath)
+        self.data_file = open(self.filePath, mode='w')
+        self.data_writer = csv.writer(self.data_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
+        self.data_writer.writerow(['Timestamp (ISO8601 - YYYY:MM:DDThh:mm:ss+/-TimeZoneOffset)', 'Timestamp (POSIX in s)', 'Voltage (Volts)', 'Current (Amps)'])
+
+    def write_data(self, voltage, current):
+        """
+        @param voltage
+        @param current
+        """
+        current_time = datetime.now().strftime('%Y-%m-%dT%H:%M:%S.%f%z')
+        current_timestamp = datetime.utcnow().timestamp()
+        logger.debug("Saved data: " + current_time + ", " + str(current_timestamp) + ", "+ str(voltage)  + ", " + str(current))
+        self.data_writer.writerow([current_time, current_timestamp, voltage, current])
+
+    def close_file(self):
+        logger.debug("Closed data file")
+        self.data_file.close()
+
diff --git a/main.py b/main.py
index ed985ab..0e38a67 100644
--- a/main.py
+++ b/main.py
@@ -31,6 +31,11 @@
         logger.debug("Importing powerSupply")
         from powerSupply import DP832
 
+# Imports - data handling
+from DataRecorder import DataRecorder
+recorder = DataRecorder()
+recorder.write_data(-1.9, -1.3)
+
 # Warn if PS Control unavailable
 if (not PS_ENABLE) and CONTROLLER_ENABLE:
     logger.warning("Controller enabled without power supply!  Power shutoff on error unavailable.")
@@ -102,6 +107,9 @@ def ControllerSafeShutdown():
     load = scpi.Instrument(port=None, backend=NI_VISA)
     # TODO: finish
 
+# Prepare data collection
+recorder = DataRecorder()
+
 # To start:
 if CONTROLLER_ENABLE:
     if TEST_MODE == "DYNO":
@@ -132,8 +140,7 @@ def ControllerSafeShutdown():
 try:
     while True:
         if CONTROLLER_ENABLE:
-            motor1.getDCBusVoltage()
-            motor1.getDCBusCurrent()
+            recorder.write_data(motor1.getDCBusVoltage(), motor1.getDCBusCurrent())
         if PS_ENABLE:
             powerSupply.updateOutputStats()
             powerSupply.getOutputVoltage()
diff --git a/output/data-2023-04-22__15-58-35.csv b/output/data-2023-04-22__15-58-35.csv
new file mode 100644
index 0000000..ffe60dc
--- /dev/null
+++ b/output/data-2023-04-22__15-58-35.csv
@@ -0,0 +1,2 @@
+Timestamp (ISO8601 - YYYY:MM:DDThh:mm:ss+/-TimeZoneOffset),Timestamp (POSIX in s),Voltage (Volts),Current (Amps)

+2023-04-22T15:58:35.760379,1682229515.760379,-1.9,-1.3


From 9a797f56b81daf2e767481d0c8e30f4217cf7fba Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 16:00:26 -0700
Subject: [PATCH 5/9] Ignore output files

---
 .gitignore | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.gitignore b/.gitignore
index d9005f2..168d441 100644
--- a/.gitignore
+++ b/.gitignore
@@ -150,3 +150,6 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+# Output
+output

From 7ab9bd32eb8d911339551b325f0f7823cd7fc830 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 19:05:53 -0700
Subject: [PATCH 6/9] Improved data recorded compatibility with recent changes
 and load testing

---
 DataRecorder.py | 39 ++++++++++++++++++++++++++++++++++-----
 main.py         |  2 +-
 2 files changed, 35 insertions(+), 6 deletions(-)

diff --git a/DataRecorder.py b/DataRecorder.py
index ad05d11..bd6c384 100644
--- a/DataRecorder.py
+++ b/DataRecorder.py
@@ -11,23 +11,52 @@
 from  datetime import datetime as datetime
 
 class DataRecorder:
-    def __init__(self):
+    def __init__(self, PS_ENABLE= False, MULTIMETER_ENABLE = False, LOAD_ENABLE = False, CONTROLLER_ENABLE = True):
+        self.PS_ENABLE = PS_ENABLE
+        self.MULTIMETER_ENABLE = MULTIMETER_ENABLE
+        self.LOAD_ENABLE = LOAD_ENABLE
+        self.CONTROLLER_ENABLE = CONTROLLER_ENABLE
+
         current_time = datetime.now().strftime('%Y-%m-%d__%H-%M-%S')
         self.filePath = "output/data-" + current_time + ".csv"
         logger.info("Saving data to :" + self.filePath)
         self.data_file = open(self.filePath, mode='w')
         self.data_writer = csv.writer(self.data_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
-        self.data_writer.writerow(['Timestamp (ISO8601 - YYYY:MM:DDThh:mm:ss+/-TimeZoneOffset)', 'Timestamp (POSIX in s)', 'Voltage (Volts)', 'Current (Amps)'])
+        header = ['Timestamp (ISO8601 - YYYY:MM:DDThh:mm:ss+/-TimeZoneOffset)', 'Timestamp (POSIX in s)']
+        if PS_ENABLE:
+            header.append('Power Supply Voltage (Volts)')
+            header.append('Power Supply Current (Amps)')
+        if MULTIMETER_ENABLE:
+            raise NotImplementedError
+        if LOAD_ENABLE:
+            raise NotImplementedError
+        if CONTROLLER_ENABLE:
+            header.append('Odrive Dc Bus Voltage (Volts)')
+            header.append('Odrive Dc Bus Current (Amps)')
+        logger.debug("Data header as list: " + str(header))
+        self.data_writer.writerow(header)
 
-    def write_data(self, voltage, current):
+    def write_data(self, ps_voltage=-1, ps_current=-1, odrive_bus_voltage=-1, odrive_bus_current = -1):
         """
         @param voltage
         @param current
         """
         current_time = datetime.now().strftime('%Y-%m-%dT%H:%M:%S.%f%z')
         current_timestamp = datetime.utcnow().timestamp()
-        logger.debug("Saved data: " + current_time + ", " + str(current_timestamp) + ", "+ str(voltage)  + ", " + str(current))
-        self.data_writer.writerow([current_time, current_timestamp, voltage, current])
+        logger.debug("Saved data: " + current_time + ", " + str(current_timestamp) + ", " + str(ps_voltage) + ", " + str(ps_current) + ", " + str(odrive_bus_voltage)  + ", " + str(odrive_bus_current))
+        
+        output = [current_time, current_timestamp]
+        if self.PS_ENABLE:
+            output.append(ps_voltage)
+            output.append(ps_current)
+        if self.MULTIMETER_ENABLE:
+            raise NotImplementedError
+        if self.LOAD_ENABLE:
+            raise NotImplementedError
+        if self.CONTROLLER_ENABLE:
+            output.append(odrive_bus_voltage)
+            output.append(odrive_bus_current)
+        self.data_writer.writerow(output)
 
     def close_file(self):
         logger.debug("Closed data file")
diff --git a/main.py b/main.py
index 0e38a67..1998b3d 100644
--- a/main.py
+++ b/main.py
@@ -108,7 +108,7 @@ def ControllerSafeShutdown():
     # TODO: finish
 
 # Prepare data collection
-recorder = DataRecorder()
+recorder = DataRecorder(PS_ENABLE=False, MULTIMETER_ENABLE=False, LOAD_ENABLE=False)
 
 # To start:
 if CONTROLLER_ENABLE:

From b51ac3ced0f4bf7588b93c5ba77f0f1aa2616f18 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 19:56:44 -0700
Subject: [PATCH 7/9] Improved documentation

---
 DataRecorder.py          | 39 +++++++++++++++++++++++++++++++++++++--
 README.md                | 36 +++++++++++++++++++++++++++++++-----
 electronicLoad.py        | 20 ++++++++++++++++++--
 main.py                  | 40 ++++++++++++++++++++++++++--------------
 odriveMotorController.py | 24 ++++++++++++++++++++----
 powerSupply.py           | 10 ++++++++++
 6 files changed, 142 insertions(+), 27 deletions(-)

diff --git a/DataRecorder.py b/DataRecorder.py
index bd6c384..35665be 100644
--- a/DataRecorder.py
+++ b/DataRecorder.py
@@ -1,3 +1,14 @@
+"""
+DataRecorder.py
+Saves test data to a file.
+
+@author BSI
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
+
 # Imports - Logging
 import logger
 import logging
@@ -11,17 +22,33 @@
 from  datetime import datetime as datetime
 
 class DataRecorder:
+    """
+    Saves test data to a file.
+
+    @author BSI
+    """
     def __init__(self, PS_ENABLE= False, MULTIMETER_ENABLE = False, LOAD_ENABLE = False, CONTROLLER_ENABLE = True):
+        """
+        Create an object to record data to a file.  File will be created in /output and will have a time-based filename
+        @param PS_ENABLE: True to accept and log data from a power supply, False to not
+        @param MULTIMETER_ENABLE: True to accept and log data from a multimeter, False to not
+        @param LOAD_ENABLE: True to accept and log data from an electronic load, False to not
+        @param CONTROLLER_ENABLE: True to accept and log data from a motor controller, False to not
+        """
+        # Update instance variables
         self.PS_ENABLE = PS_ENABLE
         self.MULTIMETER_ENABLE = MULTIMETER_ENABLE
         self.LOAD_ENABLE = LOAD_ENABLE
         self.CONTROLLER_ENABLE = CONTROLLER_ENABLE
 
+        # Create file to save data to
         current_time = datetime.now().strftime('%Y-%m-%d__%H-%M-%S')
         self.filePath = "output/data-" + current_time + ".csv"
         logger.info("Saving data to :" + self.filePath)
         self.data_file = open(self.filePath, mode='w')
         self.data_writer = csv.writer(self.data_file, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
+
+        # Add column headers to file
         header = ['Timestamp (ISO8601 - YYYY:MM:DDThh:mm:ss+/-TimeZoneOffset)', 'Timestamp (POSIX in s)']
         if PS_ENABLE:
             header.append('Power Supply Voltage (Volts)')
@@ -38,8 +65,13 @@ def __init__(self, PS_ENABLE= False, MULTIMETER_ENABLE = False, LOAD_ENABLE = Fa
 
     def write_data(self, ps_voltage=-1, ps_current=-1, odrive_bus_voltage=-1, odrive_bus_current = -1):
         """
-        @param voltage
-        @param current
+        Records data to the file opened in __init__
+        Ensure that the parameters being passed match what is enabled in __init__
+
+        @param ps_voltage
+        @param ps_current
+        @param odrive_bus_voltage
+        @param odrive_bus_current
         """
         current_time = datetime.now().strftime('%Y-%m-%dT%H:%M:%S.%f%z')
         current_timestamp = datetime.utcnow().timestamp()
@@ -59,6 +91,9 @@ def write_data(self, ps_voltage=-1, ps_current=-1, odrive_bus_voltage=-1, odrive
         self.data_writer.writerow(output)
 
     def close_file(self):
+        """
+        Closes the file opened in __init__
+        """
         logger.debug("Closed data file")
         self.data_file.close()
 
diff --git a/README.md b/README.md
index 74e5c9b..3449e6b 100644
--- a/README.md
+++ b/README.md
@@ -1,18 +1,38 @@
-# DynomometerControl
+# Cal Poly Wind Power Club - Power Team - Automated Test Control Software
+
+This script is intended to perform semi-automated testing on a generator as well as wind-tunnel testing for a wind turbine.  Data is recorded to a `.csv` file in the `/output/` directory and logs are stored in `/logs/`.  Different components can be enabled or disabled by changing the variables marked by `# CONFIG`.
+
+## Dynamometer Control
 
 Performs automated dynamometer testing on a generator by controlling & monitoring the following components over USB:
 
 - A VISA compatible power supply (Rigol DP832) using SCPI
-- An odrive motor connected to a Odrive Robotics v3.6 controller using the odrive library
+- An Odrive motor connected to a Odrive Robotics v3.6 controller using the odrive library
+- (Optional) A VISA compatible multimeter (Agilent U3606A) using SCPI
+- (Recommended) A VISA compatible programable electronic road (Siglent SDL1020X-E) using SCPI
+
+Note that this program is specific to the use case and ignores things a more generic library might include, such as multiple power supply channels.
+
+## Wind Tunnel Testing
+
+Records data and manages wind tunnel testing on a hobbyist wind turbine by controlling & monitoring the following components over USB:
+
+- An Odrive motor connected to a Odrive Robotics v3.6 controller using the odrive library
 - (Optional) A VISA compatible multimeter (Agilent U3606A) using SCPI
 - (Recommended) A VISA compatible programable electronic road (Siglent SDL1020X-E) using SCPI
 
-Note that this program is specified to the use case and ignores things a more generic library might include, such as multiple power supply channels
+Note that this program is specific to the use case and ignores things a more generic library might include, such as multiple power supply channels.
 
 ## Key terms
 
-- Virtual Instrument Software architecture (VISA library)
-- Standard Commands for Programmable Instruments (SCPI)
+- Virtual Instrument Software architecture (VISA library) [More info - Wikipedia](https://en.wikipedia.org/wiki/Virtual_instrument_software_architecture)
+- Standard Commands for Programmable Instruments (SCPI) [More information - Wikipedia](https://en.wikipedia.org/wiki/Standard_Commands_for_Programmable_Instruments)
+- `.csv` - Comma separated values file extension - basically a spreadsheet represented in plain text
+
+## SCPI
+
+The SCPI syntax is hierarchial - A root command might be `:MEASure` with a subcommand `:VOLTage` and then `:DC?` under that.  Note that `:` is used a separator and `?` indicate query while setter commands don't have a question mark afterwords.  For example, to putting the above together would result in `MEASure:VOLTage:DC?`, which would measure the DC voltage.  Not that only the capital letters are required.
+Additionally, commands can be concatenated with a semicolon in between and arguments can be provided after a space.
 
 ## Questions, Comments, and work put off for the future
 
@@ -26,3 +46,9 @@ Note that this program is specified to the use case and ignores things a more ge
   - The Keysight VISA has some extra libraries that cause it to need extra configuration for pyvisa
   - [See Wikipedia - VISA on compatibility](https://en.wikipedia.org/wiki/Virtual_instrument_software_architecture_
 - 32-bit vs. 64-bit: I didn't realize that both NI and Keysight provided 64-bit VISAs so I installed python 3.11 32-bit and now I can't be bothered to switch back to whatever 64-bit version of Python I had before
+
+## License
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
diff --git a/electronicLoad.py b/electronicLoad.py
index 360074d..5b11cde 100644
--- a/electronicLoad.py
+++ b/electronicLoad.py
@@ -1,3 +1,14 @@
+"""
+ElectronicLoad.py
+Control a VISA compatible electronic load with SCPI over USB
+
+@author BSI
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
+
 # Imports - logger
 import logging
 import logger
@@ -19,13 +30,18 @@
 
 # easy_scpi Docs: https://pypi.org/project/easy-scpi/
 """
-# TODO: Figure out how to extend Pythong classes?s
+# TODO: Figure out how to extend Python classes?s
 class SDL1020X(scpi.Instrument):
     def __init__(self):
         pass
 """
 
 class SDL1020X:
+    """
+    Control a Siglent SDL1020X-E 200W electronic load via SCPI over USB
+
+    @author BSI
+    """
     def __init__(self, port):
         """
         Wrapper object for easy_scpi.Instrument object to control a Siglent SDL1020X-E 200W electronic load over SCPI
@@ -88,7 +104,7 @@ def verifyConfig(self):
         logger.debug("Electronic load CR resistor range value: " + str(self.instrument.query(":SOURce:RESistance:RRANGe?")))
 
         logger.debug("Electronic load OCP state: " + self.powerSupply.query(":SOURce:CURRent:PROTection:STATe?")) # Not sure, this wasn't how it was in the manuel but it makes more since
-        raise NotImplementedError
+        raise NotImplementedError # TODO
         # Verify parameters
         logger.debug("Power supply Ch. 1 OCP value: " + self.powerSupply.query(":OUTP:OCP:VAL? CH1"))
         logger.debug("Power supply Ch. 1 OVP state: " + self.powerSupply.query(":OUTP:OVP? CH1"))
diff --git a/main.py b/main.py
index 1998b3d..e3b3020 100644
--- a/main.py
+++ b/main.py
@@ -1,3 +1,14 @@
+"""
+main.py
+This script is intended to perform semi-automated testing on a generator as well as wind-tunnel testing for a wind turbine.  Data is recorded to a `.csv` file in the `/output/` directory and logs are stored in `/logs/`.  Different components can be enabled or disabled by changing the variables marked by `# CONFIG`.
+
+@author BSI
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
+
 # Imports - Logging
 import logger
 import logging
@@ -9,27 +20,27 @@
 logger = logging.getLogger("DynamometerControl")
 logger.setLevel(logging.DEBUG)
 
-## CONFIG
-CONTROLLER_ENABLE = True
-PS_ENABLE = False
-MULTIMETER_ENABLE = False
-LOAD_ENABLE = False
-#TEST_MODE = "DYNO"
-TEST_MODE = "TUNNEL"
+# CONFIG
+CONTROLLER_ENABLE = True # CONFIG: Boolean
+PS_ENABLE = False # CONFIG: Boolean
+MULTIMETER_ENABLE = False # CONFIG: Boolean
+LOAD_ENABLE = False # CONFIG: Boolean
+#TEST_MODE = "DYNO" # CONFIG: "DYNO" or "TUNNEL"
+TEST_MODE = "TUNNEL" # CONFIG: "DYNO" or "TUNNEL"
 
 logger.info("Test Config: CONTROLLER_ENABLE=%s, PS_ENABLE=%s, MULTIMETER_ENABLE=%s, LOAD_ENABLE=%s", CONTROLLER_ENABLE, PS_ENABLE, MULTIMETER_ENABLE, LOAD_ENABLE)
 
 # Imports - Control
 if CONTROLLER_ENABLE:
     logger.debug("Importing odriveMotorController")
-    from odriveMotorController import odriveMotorController
+    from OdriveMotorController import odriveMotorController
 if PS_ENABLE or MULTIMETER_ENABLE or LOAD_ENABLE:
     logger.debug("Importing easy_scpi and pyvisa")
     import easy_scpi as scpi
     import pyvisa
     if PS_ENABLE:
         logger.debug("Importing powerSupply")
-        from powerSupply import DP832
+        from PowerSupply import DP832
 
 # Imports - data handling
 from DataRecorder import DataRecorder
@@ -70,6 +81,9 @@
         powerSupply.enable()
 
 def PSSafeShutdown():
+    """
+    Checks to see if the power supply has been configured and shuts it off if it has.
+    """
     if PS_ENABLE:
         powerSupply.disable()
     else:
@@ -93,6 +107,9 @@ def PSSafeShutdown():
         sys_exit(-1)
 
 def ControllerSafeShutdown():
+    """
+    Checks to see if the motor controller has been configured and shuts it off if it has.
+    """
     ## TODO: Verify that this is correct
     if CONTROLLER_ENABLE:
         motor1.stop()
@@ -132,11 +149,6 @@ def ControllerSafeShutdown():
             sys_exit(-1)
 
 # Main loop
-#"""
-
-#"""
-
-
 try:
     while True:
         if CONTROLLER_ENABLE:
diff --git a/odriveMotorController.py b/odriveMotorController.py
index 05b6ebe..6e3ee93 100644
--- a/odriveMotorController.py
+++ b/odriveMotorController.py
@@ -1,3 +1,14 @@
+"""
+OdriveMotorController.py
+Control an Odrive motor controller over USB
+
+@author BSI
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
+
 # Imports - logger
 import logging
 import logger
@@ -15,10 +26,15 @@
 
 
 class odriveMotorController:
-    # Our controller is a bit old, this version is more relevant: # https://docs.odriverobotics.com/v/0.5.4/getting-started.html
-    # Latest: https://docs.odriverobotics.com/v/0.5.5/specifications.html
-    # https://docs.odriverobotics.com/v/0.5.5/getting-started.html
-    # Troubleshooting: https://docs.odriverobotics.com/v/latest/troubleshooting.html
+    """
+    Control an Odrive motor controller over USB
+
+    Useful links:
+    Our controller is a bit old, this version is more relevant: # https://docs.odriverobotics.com/v/0.5.4/getting-started.html
+    Latest: https://docs.odriverobotics.com/v/0.5.5/specifications.html
+    https://docs.odriverobotics.com/v/0.5.5/getting-started.html
+    Troubleshooting: https://docs.odriverobotics.com/v/latest/troubleshooting.html
+    """
 
     def __init__(self):
         """
diff --git a/powerSupply.py b/powerSupply.py
index 6daea29..9b17272 100644
--- a/powerSupply.py
+++ b/powerSupply.py
@@ -1,3 +1,13 @@
+"""
+PowerSupply.py
+Control a VISA compatible power supply with SCPI over USB
+
+@author BSI
+
+This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+"""
 # Imports - logger
 import logging
 import logger

From 1e3b8c2f47e64aeac239f9d8a9d847d9e4dcbe17 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 22 Apr 2023 20:01:13 -0700
Subject: [PATCH 8/9] Improved formatting a tiny bit

---
 main.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/main.py b/main.py
index e3b3020..faa5c45 100644
--- a/main.py
+++ b/main.py
@@ -1,6 +1,10 @@
 """
 main.py
-This script is intended to perform semi-automated testing on a generator as well as wind-tunnel testing for a wind turbine.  Data is recorded to a `.csv` file in the `/output/` directory and logs are stored in `/logs/`.  Different components can be enabled or disabled by changing the variables marked by `# CONFIG`.
+This script is intended to perform semi-automated testing on a generator
+    as well as wind-tunnel testing for a wind turbine.  Data is recorded
+    to a `.csv` file in the `/output/` directory and logs are stored in
+    `/logs/`.  Different components can be enabled or disabled by
+    changing the variables marked by `# CONFIG`.
 
 @author BSI
 

From 519bd153be92cca6d7b9cdd165fc837ce22e71c4 Mon Sep 17 00:00:00 2001
From: BobSaidHi <47067448+BobSaidHi@users.noreply.github.com>
Date: Sat, 30 Sep 2023 13:48:48 -0700
Subject: [PATCH 9/9] Some updates

---
 DynamometerControl.code-workspace | 3 ++-
 electronicLoad.py                 | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/DynamometerControl.code-workspace b/DynamometerControl.code-workspace
index fc62ddc..324340b 100644
--- a/DynamometerControl.code-workspace
+++ b/DynamometerControl.code-workspace
@@ -19,6 +19,7 @@
 			"Sensorless",
 			"Siglent",
 			"visalib"
-		]
+		],
+		"workbench.colorTheme": "Default Dark+"
 	}
 }
\ No newline at end of file
diff --git a/electronicLoad.py b/electronicLoad.py
index 5b11cde..67678ff 100644
--- a/electronicLoad.py
+++ b/electronicLoad.py
@@ -104,7 +104,7 @@ def verifyConfig(self):
         logger.debug("Electronic load CR resistor range value: " + str(self.instrument.query(":SOURce:RESistance:RRANGe?")))
 
         logger.debug("Electronic load OCP state: " + self.powerSupply.query(":SOURce:CURRent:PROTection:STATe?")) # Not sure, this wasn't how it was in the manuel but it makes more since
-        raise NotImplementedError # TODO
+        
         # Verify parameters
         logger.debug("Power supply Ch. 1 OCP value: " + self.powerSupply.query(":OUTP:OCP:VAL? CH1"))
         logger.debug("Power supply Ch. 1 OVP state: " + self.powerSupply.query(":OUTP:OVP? CH1"))
@@ -112,6 +112,7 @@ def verifyConfig(self):
         logger.debug("Power supply OTP state: " + self.powerSupply.query(":SYSTem:OTP?"))
         logger.debug("Power supply system version: " + self.powerSupply.query(":SYSTem:VERSion?"))
         
+        raise NotImplementedError # TODO
 
     # Control
     def enable(self):