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fixed centering routine fsamx movements
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This commit was merged in pull request #162.
This commit is contained in:
x12sa
2026-03-12 16:22:29 +01:00
committed by wyzula_j
parent 8c7e1cf060
commit 53e7593b8e
1 changed files with 29 additions and 18 deletions
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47
csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py
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@@ -175,7 +175,10 @@ class RtFlomniController(Controller):
self.set_device_read_write("fopty", False)
def move_samx_to_scan_region(self, fovx: float, cenx: float):
#new routine not using fovx anymore
self.device_manager.devices.rtx.obj.move(cenx, wait=True)
time.sleep(0.05)
#at cenx we expect the PID to be close to zero for a good fsamx position
if self.rt_pid_voltage is None:
rtx = self.device_manager.devices.rtx
self.rt_pid_voltage = rtx.user_parameter.get("rt_pid_voltage")
@@ -184,31 +187,39 @@ class RtFlomniController(Controller):
"rt_pid_voltage not set in rtx user parameters. Please run feedback_enable_with_reset first."
)
logger.info(f"Using PID voltage from rtx user parameter: {self.rt_pid_voltage}")
expected_voltage = self.rt_pid_voltage + fovx / 2 * 7 / 100
logger.info(f"Expected PID voltage: {expected_voltage}")
expected_voltage = self.rt_pid_voltage
#logger.info(f"Expected PID voltage: {expected_voltage}")
logger.info(f"Current PID voltage: {self.get_pid_x()}")
wait_on_exit = False
while True:
if np.abs(self.get_pid_x() - expected_voltage) < 1:
break
wait_on_exit = True
self.socket_put("v0")
#we allow 2V range from center, this corresponds to 30 microns
if np.abs(self.get_pid_x() - expected_voltage) < 2:
logger.info("No correction of fsamx needed")
else:
fsamx = self.device_manager.devices.fsamx
fsamx.read_only = False
fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
fsamx.obj.pid_x_correction -= (self.get_pid_x() - expected_voltage) * 0.007
logger.info(f"Correcting fsamx by {fsamx.obj.pid_x_correction}")
fsamx_in = fsamx.user_parameter.get("in")
fsamx.obj.move(fsamx_in + cenx / 1000 + fsamx.obj.pid_x_correction, wait=True)
fsamx.read_only = True
time.sleep(0.1)
self.laser_tracker_on()
time.sleep(0.01)
while True:
#when we correct, then to 1 V, within 15 microns
if np.abs(self.get_pid_x() - expected_voltage) < 1:
logger.info("No further correction needed")
break
wait_on_exit = True
#disable FZP piezo feedback
self.socket_put("v0")
fsamx.read_only = False
logger.info(f"Current PID voltage: {self.get_pid_x()}")
#here we accumulate the correction
fsamx.obj.pid_x_correction -= (self.get_pid_x() - expected_voltage) * 0.006
fsamx_in = fsamx.user_parameter.get("in")
logger.info(f"Moving fsamx to {cenx / 1000 * 0.7 + fsamx.obj.pid_x_correction}, PID portion of that {fsamx.obj.pid_x_correction}")
fsamx.obj.move(fsamx_in + cenx / 1000 * 0.7 + fsamx.obj.pid_x_correction, wait=True)
fsamx.read_only = True
time.sleep(0.1)
self.laser_tracker_on()
time.sleep(0.01)
if wait_on_exit:
time.sleep(1)
#enable fast FZP feedback again
self.socket_put("v1")
@threadlocked