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continue with init

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This commit is contained in:
Holler Mirko
2024-07-04 17:21:13 +02:00
committed by wakonig_k
parent c7f9d37c12
commit d32d7401a3
1 changed files with 170 additions and 4 deletions
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csaxs_bec/bec_ipython_client/plugins/omny/omny.py
+170 -4
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@@ -57,8 +57,7 @@ class OMNYInitStagesMixin:
dev.oosaz.drive_axis_to_limit("forward")
dev.oosax.drive_axis_to_limit("forward")
else:
print("Automatic init not possible. Initialize manually")
return
raise OMNYInitError("Automatic init not possible. Initialize manually")
umv(dev.oshield, 0)
@@ -132,14 +131,181 @@ class OMNYInitStagesMixin:
user_input = input("find reference mark of oeyey?")
if user_input == "y":
dev.oeyez.drive_axis_to_limit("forward")
dev.oeyey.controller.socket_put_confirmed(""indspeed[7]=2000"")
print("oeyey now in limit")
dev.oeyey.controller.socket_put_confirmed("indspeed[7]=2000")
dev.oeyey.find_reference()
print("oeyey is now referenced")
dev.oeyey.limits = [-61, 1]
#ensure closed shuttle and shuttle aligner down
if not dev.oshuttleopen.get_motor_limit_switch()[0]:
if not dev.oshuttleopen.get_motor_limit_switch()[1]:
dev.oshuttleopen.drive_axis_to_limit("reverse")
if not dev.oshuttleopen.get_motor_limit_switch()[1]:
raise OMNYInitError("Failed to drive shuttle opener to reverse limit")
else:
print("shuttle opener is down, i.e. in safe position to continue.")
#move shuttle aligner down
if not dev.oshuttlealign.get_motor_limit_switch()[0]:
dev.oshuttlealign.drive_axis_to_limit("forward")
if not dev.oshuttlealign.get_motor_limit_switch()[0]:
raise OMNYInitError("Failed to drive shuttle opener to forward limit")
else:
print("shuttle aligner is down, i.e. in safe position to continue.")
user_input = input("drive parking stage to +Z limit and reference?")
if user_input == "y":
dev.oparkz.drive_axis_to_limit("forward")
print("oparkz is in limit")
dev.oparkz.find_reference()
print("oparkz is referenced")
dev.oparkz.limits = [-165, 1]
user_input = input("OK, tricky part. Can the OSA be moved to -z limit then -x limit. Risk of collition! y/n?")
if user_input == "y":
dev.oosaz.drive_axis_to_limit("forward")
dev.oosax.drive_axis_to_limit("forward")
else:
raise OMNYInitError("Automatic init not possible in this case. Please initialize manually.\n")
user_input = input("drive otrackz to -Z limit?")
if user_input == "y":
dev.otrackz.drive_axis_to_limit("forward")
print("otrackz is in limit")
user_input = input("drive osamx to +X limit?")
if user_input == "y":
dev.osamx.drive_axis_to_limit("forward")
print("osamx is in limit")
user_input = input("drive oosay to +Y limit?")
if user_input == "y":
dev.oosay.drive_axis_to_limit("forward")
print("oosay is in limit")
user_input = input("find reference mark of osamx?")
if user_input == "y":
dev.osamx.find_reference()
print("osamx is referenced")
dev.osamx.limits = [-1, 1]
#osamx range limit -2 to 7 good for cryolink
#if osamz is ever needed, here is how it could be initialized (in spec code)
#if (!_ogalil_axis_is_referenced_mne(osamx) || fabs(A[osamx]) > 0.1 )
#{
#printf("The osamx stage is not referenced or is not at the reference position. Aborting.\n")
#exit
#}
#drive osamz to -Z limit
#+Z direction is critical because of cryolink connection
#if(!yesno("drive osamz to -Z limit and perform reference search?",1))
# exit
#osamz to limit
#_ogalil_drive_to_limit_mne(osamz,1)
#_ogalil_find_reference_mark_mne(osamz)
#set_lm osamz -.5 .5
user_input = input("drive osamy to -Y limit?")
if user_input == "y":
dev.osamy.drive_axis_to_limit("reverse")
print("osamy is in limit")
#check shield is at zero position
_ostages_init_confirm("perform reference search of oosax?")
_ogalil_find_reference_mark_mne("oosax")
set_lm oosax -1 4
_ostages_init_confirm("perform reference search of oosay?")
_ogalil_find_reference_mark_mne("oosay")
set_lm oosay -.1 .6
_ostages_init_confirm("perform reference search of osamy?")
_ogalil_find_reference_mark_mne("osamy")
set_lm osamy -1 1
_ostages_init_confirm("perform reference search of oosaz?")
_ogalil_find_reference_mark_mne("oosaz")
set_lm oosaz -2 .1
_ostages_init_confirm("find endswitch and reference mark of osamroy?")
global _ogalil_ignore_glitch_rotstage
_ogalil_ignore_glitch_rotstage=1
_ogalil_drive_to_limit_mne("osamroy",0 )
_ogalil_find_reference_mark_mne("osamroy")
global _osamroy_last_rotation_angle
_osamroy_last_rotation_angle=0
set_lm osamroy -27 337
_ogalil_ignore_glitch_rotstage=0
_ostages_init_confirm("find reference marks of transfer Y?")
_ogalil_find_reference_mark_mne("otransy")
set_lm otransx -459 21
set_lm otransy -41 1
set_lm otransz -67.5 11
_ostages_init_confirm("find endswitches and reference marks of tracking stage system?")
_ogalil_drive_to_limit_mne("otracky",1)
_ogalil_find_reference_mark_mne("otracky")
_ogalil_find_reference_mark_mne("otrackz")
_ogalil_folerr_not_ignore( 0)
_ogalil_folerr_not_ignore( 1)
_ogalil_folerr_not_ignore( 2)
_ogalil_put_confirmed(2,"ACE=11264")
_ogalil_put_confirmed(2,"ACB=11264")
_ogalil_put_confirmed(2,"DCE=11264")
_ogalil_put_confirmed(2,"DCB=11264")
ogalil_show_all
_ogalil_init_adjust
}'
def _ogalil_init_adjust '{
if(!yesno("adjust all stages to approximate alignment?",1))
exit
oeye_cam_in
umv oosay 0.5
set_lm oosay .4 .6
set_lm osamy -1 3
umv osamy 2.7 ofzpx -.8 ofzpy 1.6
set_lm osamy 2.5 2.9
set_lm ofzpx -2 0
set_lm ofzpy -0 3
set_lm ofzpz -2.5 60
_oshield_ST_close
set_lm otracky -7 -3
set_lm otrackz -2 1
umv otracky -4.3431 otrackz -0.6948
_ogalil_user_dial_offsets_to_zero()
_ogalil_put_confirmed(1,"SPA=100")
_ogalil_put_confirmed(1,"ACA=1878")
_ogalil_put_confirmed(1,"DCA=1878")
_ogalil_put_confirmed(2,"ACE=11264")
_ogalil_put_confirmed(2,"ACB=11264")
_ogalil_put_confirmed(2,"DCE=11264")
_ogalil_put_confirmed(2,"DCB=11264")
_ogalil_put_confirmed(2,"axspeed[0]=1000")