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beamline specific folders for configuration and calibration

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- folders for X06SA, X10SA, X06DA, X10MX
This commit is contained in:
glettig_w
2022-07-25 16:00:23 +02:00
parent 2e876931e3
commit bb4d8f84d9
9 changed files with 826 additions and 186 deletions
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catkin_ws/src/smargon/config/X06SA/220725_CalibrationDatas/Datas Normal file
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catkin_ws/src/smargon/config/X06SA/220725_CalibrationDatas/Values Normal file
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catkin_ws/src/smargon/config/X06SA/calibrationLUT.csv Normal file
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CHI,OMEGA,X_LUT,Y_LUT,Z_LUT
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1 CHI OMEGA X_LUT Y_LUT Z_LUT
2 0.0 5.0 0.00014229634 -0.00023254486999999997 -0.009894858369999999
3 0.0 15.0 0.00016313820202020198 -0.00041960783838383833 -0.010073629676767677
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6 0.0 45.0 0.0005172840303030303 -0.001207087 -0.010919191606060606
7 0.0 55.0 0.0004437322800000001 -0.0014695555799999998 -0.0110580758
8 0.0 65.0 0.0005326038799999999 -0.0018754464499999997 -0.010695493549999999
9 0.0 75.0 0.00073796727 -0.0024704472599999996 -0.010178348579999998
10 0.0 85.0 0.0008730389292929293 -0.0028956999292929285 -0.009835046282828282
11 0.0 95.0 0.00101557056 -0.0030298808299999993 -0.009567129810000002
12 0.0 105.0 0.00114888038 -0.0027969862 -0.00919058832
13 0.0 115.0 0.0012908393636363636 -0.0024310767474747474 -0.00855089711111111
14 0.0 125.0 0.0013948745 -0.00196036586 -0.0079598015
15 0.0 135.0 0.0015484157400000001 -0.00162683111 -0.00752952273
16 0.0 145.0 0.0017584307300000002 -0.0012593818100000002 -0.007550935670000002
17 0.0 155.0 0.00196889593 -0.0006622602699999998 -0.007947066780000001
18 0.0 165.0 0.0019583810499999997 1.7464700000000476e-06 -0.00818402823
19 0.0 175.0 0.001909517356435644 0.0005719413069306931 -0.008354902207920794
20 0.0 185.0 0.0019363406700000003 0.00085621518 -0.008633011150000001
21 0.0 195.0 0.0019128934500000003 0.0007753404600000001 -0.008995938260000001
22 0.0 205.0 0.0018273817099999999 0.00057753482 -0.00955420864
23 0.0 215.0 0.0017758994554455448 0.00035128851485148523 -0.010231295594059407
24 0.0 225.0 0.0017187485148514852 0.00018574324752475255 -0.010738563683168318
25 0.0 235.0 0.001559998257425743 1.5503475247524813e-05 -0.010984694742574257
26 0.0 245.0 0.0014374387676767675 -0.0003966151818181818 -0.010852075464646468
27 0.0 255.0 0.0012821148712871288 -0.0010600794950495049 -0.010664607514851486
28 0.0 265.0 0.00130684673 -0.0018442044000000002 -0.010600893299999999
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30 0.0 285.0 0.0009510556534653465 -0.001974818871287129 -0.01034006696039604
31 0.0 295.0 0.0006792990099999999 -0.0016423998700000003 -0.00993202415
32 0.0 305.0 0.0005749152199999999 -0.0014979878699999999 -0.00943677706
33 0.0 315.0 0.00042278352000000007 -0.0014256718399999998 -0.00911322174
34 0.0 325.0 0.00030108441999999997 -0.0013331216899999999 -0.009115569620000001
35 0.0 335.0 0.00023936350000000007 -0.0010783037699999998 -0.00932330819
36 0.0 345.0 0.00018522991999999998 -0.00060998204 -0.009620765540000001
37 0.0 355.0 4.745071966527195e-05 -0.000546687461087866 -0.009962269717154812
38 10.0 5.0 -0.01591763679 -0.08804631386999998 -0.026789673
39 10.0 15.0 -0.015988676040404038 -0.09015084251515153 -0.011420427383838387
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47 10.0 95.0 -0.0157386268 -0.0217799442 0.07823906543999999
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50 10.0 125.0 -0.01538263678 0.02551957347 0.07636422413
51 10.0 135.0 -0.01515457987878788 0.0402813512020202 0.0703996895151515
52 10.0 145.0 -0.014840112306930693 0.05379420316831684 0.061605985089108896
53 10.0 155.0 -0.0148724282 0.06568627323000001 0.05072328261999999
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60 10.0 225.0 -0.014287146420000006 0.07954680816000001 -0.054411911240000006
61 10.0 235.0 -0.01433867815841584 0.07095144323762376 -0.06751849602970296
62 10.0 245.0 -0.01436704663 0.05992948311 -0.07865970086
63 10.0 255.0 -0.014464066679999998 0.04692396496000001 -0.08766316239999997
64 10.0 265.0 -0.014348701792079211 0.032188289227722766 -0.09434255266336633
65 10.0 275.0 -0.014691694620000003 0.01713776347 -0.09867947922999999
66 10.0 285.0 -0.01485948969 0.0018451436000000002 -0.10008660412
67 10.0 295.0 -0.015030789810000002 -0.013631148019999999 -0.09856060164000001
68 10.0 305.0 -0.015222489643564357 -0.028821693504950494 -0.09430179201980199
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81 20.0 75.0 -0.007245417544554455 -0.07794917771287127 0.09470011592079208
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89 20.0 155.0 -0.00638713302 0.08762694700000002 0.08213062370999998
90 20.0 165.0 -0.006180312499999999 0.10295396033 0.06492531649
91 20.0 175.0 -0.006005543683168317 0.11527086600990102 0.045344623603960396
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96 20.0 225.0 -0.00541617754 0.11703890956000002 -0.06511130605
97 20.0 235.0 -0.005391949455445543 0.10618349703960397 -0.08459483272277228
98 20.0 245.0 -0.00535824532 0.09195020322 -0.10167194505999999
99 20.0 255.0 -0.005233174199999999 0.07453111914 -0.11581897311999999
100 20.0 265.0 -0.005396445881188118 0.05504755702970298 -0.12688443324752477
101 20.0 275.0 -0.00555450397 0.03394733893 -0.13450428697999997
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109 20.0 355.0 -0.006870063755578093 -0.1196465945730223 -0.05400529853296146
110 30.0 5.0 0.01191236448 -0.13569451985 -0.05731221866
111 30.0 15.0 0.011754109727272725 -0.14256078336363634 -0.033152138737373736
112 30.0 25.0 0.011752490179999998 -0.14523271490999998 -0.00830383932
113 30.0 35.0 0.01163677173 -0.14358436545999997 0.016272572370000002
114 30.0 45.0 0.01159955805050505 -0.13759831060606062 0.040152582686868686
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118 30.0 85.0 0.011454768464646466 -0.07625355759595959 0.11559671956565656
119 30.0 95.0 0.011470397089999997 -0.05366950248000001 0.12602549439000002
120 30.0 105.0 0.01150799531313131 -0.029286498282828283 0.1324056621818182
121 30.0 115.0 0.0115574226 -0.00403331149 0.13475243814000004
122 30.0 125.0 0.01162154536 0.021506834479999997 0.13275180029
123 30.0 135.0 0.011921971747474747 0.04617379399999998 0.1263200830909091
124 30.0 145.0 0.011989669643564356 0.06925882109900992 0.11577126364356434
125 30.0 155.0 0.012106298219999999 0.09049305763000001 0.10092774809999999
126 30.0 165.0 0.012231236940000001 0.10903319874999999 0.08278768229999998
127 30.0 175.0 0.01252818429 0.12432594524000001 0.061897254839999985
128 30.0 185.0 0.012638736930693069 0.13548508458415842 0.03886953950495049
129 30.0 195.0 0.012820529919999999 0.14218598417 0.01418858182
130 30.0 205.0 0.012972126859999999 0.14435490812000001 -0.01131547579
131 30.0 215.0 0.013069381653465346 0.14218699345544555 -0.03700277825742575
132 30.0 225.0 0.01399806851 0.13633055115 -0.06284126062
133 30.0 235.0 0.013157154732673263 0.12501228102970297 -0.0845404717722772
134 30.0 245.0 0.01321115858 0.11039805573 -0.10497749182999999
135 30.0 255.0 0.013244875479999996 0.0923100152 -0.12240401369
136 30.0 265.0 0.013234582564356433 0.07134293483168318 -0.13655590407920792
137 30.0 275.0 0.013119847499999998 0.048347074899999995 -0.14694438012999997
138 30.0 285.0 0.013111470379999999 0.02407078421 -0.1530058405
139 30.0 295.0 0.013044676297029703 -0.0009216915841584156 -0.15441691434653462
140 30.0 305.0 0.012894778069999996 -0.02599948972 -0.15144057388
141 30.0 315.0 0.012795821760000003 -0.05027579391 -0.14426970738999997
142 30.0 325.0 0.012641096789999995 -0.07311202904 -0.13320736818999998
143 30.0 335.0 0.012617526959595959 -0.09366008098989898 -0.11867854541414143
144 30.0 345.0 0.012753571319999999 -0.11151404713000002 -0.10090902953
145 30.0 355.0 0.011953096003549695 -0.13054963352434076 -0.06974929740922921
146 40.0 5.0 0.033177942999999994 -0.13027347629000002 -0.07057940143
147 40.0 15.0 0.03318424312121212 -0.13948585028282828 -0.04692633096969698
148 40.0 25.0 0.03295313373 -0.14478328649000002 -0.02261078189
149 40.0 35.0 0.032883418505050506 -0.14566657109090908 0.002071413545454545
150 40.0 45.0 0.032799634189999996 -0.14206424287 0.02649486563
151 40.0 55.0 0.03272477321 -0.13427895702999998 0.05017886829999999
152 40.0 65.0 0.03266140316161616 -0.12258769090909089 0.07209500790909092
153 40.0 75.0 0.03263716713861386 -0.10724119972277225 0.09173955553465347
154 40.0 85.0 0.03264296388888888 -0.08863416317171716 0.10814569752525252
155 40.0 95.0 0.032625933319999995 -0.06728317577999998 0.12074678346
156 40.0 105.0 0.03260889187 -0.04351013376000001 0.12959583230000005
157 40.0 115.0 0.03258020552525253 -0.018543062959595957 0.13428514583838383
158 40.0 125.0 0.0326564189 0.00698527681 0.13477157255
159 40.0 135.0 0.03287754112121212 0.0321529648080808 0.13065348329292928
160 40.0 145.0 0.03283961857425742 0.05623167754455446 0.1223428057227723
161 40.0 155.0 0.03295443661 0.07889677331000002 0.10964273074
162 40.0 165.0 0.03315362148 0.09912794898000002 0.09343703810999998
163 40.0 175.0 0.03336961271287128 0.11639691203960396 0.07396272164356438
164 40.0 185.0 0.03353672496 0.12976926276 0.05199032179
165 40.0 195.0 0.033762732829999996 0.13882621215000002 0.02818118596
166 40.0 205.0 0.033927869129999996 0.14348419741000001 0.00292875055
167 40.0 215.0 0.03400410010891089 0.14373852346534652 -0.022863025841584162
168 40.0 225.0 0.034134402509999995 0.13971451795 -0.04817114708999999
169 40.0 235.0 0.03424372488118811 0.1312840901386139 -0.07205075813861386
170 40.0 245.0 0.034317663529999994 0.11868981008000003 -0.0937452839
171 40.0 255.0 0.034570307200000004 0.10219723886000001 -0.11278797087999999
172 40.0 265.0 0.034558271019801974 0.08289625394059406 -0.1289200689009901
173 40.0 275.0 0.034465402400000004 0.06122360154 -0.14153091068999998
174 40.0 285.0 0.034357477850000005 0.03787761521 -0.14998357167
175 40.0 295.0 0.03425578624 0.013427099969999997 -0.15392404754
176 40.0 305.0 0.03413778581188119 -0.011610588534653467 -0.15342246940594056
177 40.0 315.0 0.034006705199999994 -0.03644512681 -0.14864193088999997
178 40.0 325.0 0.03384991792 -0.060214114699999995 -0.1399663208
179 40.0 335.0 0.03371325011111111 -0.08186248223232323 -0.12762956339393938
180 40.0 345.0 0.033583214349999994 -0.10084695235000002 -0.11170425151000002
181 40.0 355.0 0.03318677688495575 -0.12350932123783187 -0.08321893861725664

137
catkin_ws/src/smargon/config/X06SA/smargonparameters.yaml Normal file
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@@ -0,0 +1,137 @@
#SmarGonMCS2 Configuration File in YAML format
#This must be loaded in order for smargopolo to function
#All lengths in [mm], angles in [deg]
#Wayne Glettig 16.11.2021
Description: 'SmarGon sn-002, x06sa-smargopolo'
MCS2_locator: 'usb:sn:MCS2-00007772'
redis_host : 'x06sa-cons-705.psi.ch'
length: {
l01: 50.500000,
l11: 16.500000,
l12: 16.500000,
l21: 16.500000,
l22: 16.500000,
l23: 13.500000,
l31: 11.500000,
l32: 28.500000,
l33: 11.500000,
l34: 28.500000,
l41: 76.500000,
l42: 25.500000,
l51: 10.000000,
l52: 2.500000,
l61: 64.422000,
l71: 5.000000,
l72: 17.670000,
l73: 5.200000,
l74: 10.719000000,
offsetQ1: 1.800000,
offsetQ2: -0.500000,
offsetQ3: 0.000000,
offsetQ4: -0.651,
offsetQ5: 0.000000,
offsetQ6: 0.000000,
}
axis: {
SHX: {
#Kalibrier PIN
start : -0.353,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
amax : 10.000,
},
SHY: {
#Kalibrier PIN
start : 0.078,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
amax : 10.000,
},
SHZ: {
#Kalibrier PIN
start : 17.256,
limpos: 22.000,
limneg: 10.000,
vmax : 10.000,
amax : 10.000,
},
OMEGA: {
start : 0.000,
limpos: 3600.000,
limneg: -3600.000,
vmax : 10.000,
amax : 10.000,
},
CHI: {
start : 0.000,
limpos: 90.000,
limneg: 0.000,
vmax : 5.000,
amax : 30.000,
},
PHI: {
start : 0.000,
limpos: 3600.000,
limneg: -3600.000,
vmax : 40.000,
amax : 40.000,
},
OX: {
start : -0.05467,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,
amax : 1.00,
},
OY: {
start : -0.18502,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,
amax : 1.00,
},
OZ: {
start : 189.307,
limpos: 200.000,
limneg: 180.000,
vmax : 1.00,
amax : 1.00,
},
q1: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q2: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q3: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q4: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q5: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q6: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
}
default_active_correction: 1

181
catkin_ws/src/smargon/config/X10SA/calibrationLUT.csv Normal file
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@@ -0,0 +1,181 @@
CHI,OMEGA,X_LUT,Y_LUT,Z_LUT
0.0,5.0,0.00014229634,-0.00023254486999999997,-0.009894858369999999
0.0,15.0,0.00016313820202020198,-0.00041960783838383833,-0.010073629676767677
0.0,25.0,0.00034932196999999996,-0.00071379974,-0.01024840709
0.0,35.0,0.0005627491199999999,-0.00095583667,-0.010508123190000001
0.0,45.0,0.0005172840303030303,-0.001207087,-0.010919191606060606
0.0,55.0,0.0004437322800000001,-0.0014695555799999998,-0.0110580758
0.0,65.0,0.0005326038799999999,-0.0018754464499999997,-0.010695493549999999
0.0,75.0,0.00073796727,-0.0024704472599999996,-0.010178348579999998
0.0,85.0,0.0008730389292929293,-0.0028956999292929285,-0.009835046282828282
0.0,95.0,0.00101557056,-0.0030298808299999993,-0.009567129810000002
0.0,105.0,0.00114888038,-0.0027969862,-0.00919058832
0.0,115.0,0.0012908393636363636,-0.0024310767474747474,-0.00855089711111111
0.0,125.0,0.0013948745,-0.00196036586,-0.0079598015
0.0,135.0,0.0015484157400000001,-0.00162683111,-0.00752952273
0.0,145.0,0.0017584307300000002,-0.0012593818100000002,-0.007550935670000002
0.0,155.0,0.00196889593,-0.0006622602699999998,-0.007947066780000001
0.0,165.0,0.0019583810499999997,1.7464700000000476e-06,-0.00818402823
0.0,175.0,0.001909517356435644,0.0005719413069306931,-0.008354902207920794
0.0,185.0,0.0019363406700000003,0.00085621518,-0.008633011150000001
0.0,195.0,0.0019128934500000003,0.0007753404600000001,-0.008995938260000001
0.0,205.0,0.0018273817099999999,0.00057753482,-0.00955420864
0.0,215.0,0.0017758994554455448,0.00035128851485148523,-0.010231295594059407
0.0,225.0,0.0017187485148514852,0.00018574324752475255,-0.010738563683168318
0.0,235.0,0.001559998257425743,1.5503475247524813e-05,-0.010984694742574257
0.0,245.0,0.0014374387676767675,-0.0003966151818181818,-0.010852075464646468
0.0,255.0,0.0012821148712871288,-0.0010600794950495049,-0.010664607514851486
0.0,265.0,0.00130684673,-0.0018442044000000002,-0.010600893299999999
0.0,275.0,0.00118595904,-0.00211220914,-0.010555225739999998
0.0,285.0,0.0009510556534653465,-0.001974818871287129,-0.01034006696039604
0.0,295.0,0.0006792990099999999,-0.0016423998700000003,-0.00993202415
0.0,305.0,0.0005749152199999999,-0.0014979878699999999,-0.00943677706
0.0,315.0,0.00042278352000000007,-0.0014256718399999998,-0.00911322174
0.0,325.0,0.00030108441999999997,-0.0013331216899999999,-0.009115569620000001
0.0,335.0,0.00023936350000000007,-0.0010783037699999998,-0.00932330819
0.0,345.0,0.00018522991999999998,-0.00060998204,-0.009620765540000001
0.0,355.0,4.745071966527195e-05,-0.000546687461087866,-0.009962269717154812
10.0,5.0,-0.01591763679,-0.08804631386999998,-0.026789673
10.0,15.0,-0.015988676040404038,-0.09015084251515153,-0.011420427383838387
10.0,25.0,-0.015831084930000003,-0.08957620253999997,0.00413756571
10.0,35.0,-0.015929713505050503,-0.08647765978787877,0.018613951909090903
10.0,45.0,-0.01600447223,-0.08071860056,0.03252657515
10.0,55.0,-0.015990673212121213,-0.0725280619090909,0.045446493070707056
10.0,65.0,-0.01595263976,-0.06228067373,0.05692412547
10.0,75.0,-0.015864398782178216,-0.05017474341584158,0.06648902922772276
10.0,85.0,-0.015797105505050504,-0.03659769380808081,0.07364969330303031
10.0,95.0,-0.0157386268,-0.0217799442,0.07823906543999999
10.0,105.0,-0.01564649862,-0.0060322749499999995,0.08014974991000001
10.0,115.0,-0.015556421121212121,0.009932454373737373,0.07951900180808082
10.0,125.0,-0.01538263678,0.02551957347,0.07636422413
10.0,135.0,-0.01515457987878788,0.0402813512020202,0.0703996895151515
10.0,145.0,-0.014840112306930693,0.05379420316831684,0.061605985089108896
10.0,155.0,-0.0148724282,0.06568627323000001,0.05072328261999999
10.0,165.0,-0.014789010270000003,0.07568861019000002,0.03787399756999999
10.0,175.0,-0.014619072349999998,0.08351100566000001,0.02360509006
10.0,185.0,-0.014474358633663365,0.08841444756435644,0.008260435524752474
10.0,195.0,-0.014404379390000001,0.09032312503000002,-0.0076103307700000015
10.0,205.0,-0.014346300239999998,0.08928237127000001,-0.023753438380000002
10.0,215.0,-0.014341142663366334,0.08564292699009901,-0.039542209871287134
10.0,225.0,-0.014287146420000006,0.07954680816000001,-0.054411911240000006
10.0,235.0,-0.01433867815841584,0.07095144323762376,-0.06751849602970296
10.0,245.0,-0.01436704663,0.05992948311,-0.07865970086
10.0,255.0,-0.014464066679999998,0.04692396496000001,-0.08766316239999997
10.0,265.0,-0.014348701792079211,0.032188289227722766,-0.09434255266336633
10.0,275.0,-0.014691694620000003,0.01713776347,-0.09867947922999999
10.0,285.0,-0.01485948969,0.0018451436000000002,-0.10008660412
10.0,295.0,-0.015030789810000002,-0.013631148019999999,-0.09856060164000001
10.0,305.0,-0.015222489643564357,-0.028821693504950494,-0.09430179201980199
10.0,315.0,-0.015445123380000004,-0.043241432780000005,-0.08759527301999999
10.0,325.0,-0.01559200637,-0.05622644127999999,-0.07884594511
10.0,335.0,-0.015716036686868683,-0.06731748278787879,-0.06817851016161616
10.0,345.0,-0.01579682517,-0.07616188095,-0.05583458576
10.0,355.0,-0.015925887534989858,-0.08567110500862068,-0.03510062020334685
20.0,5.0,-0.00688084376,-0.12357017996000001,-0.042623356700000004
20.0,15.0,-0.006961711313131312,-0.12802664435353536,-0.02080554925252525
20.0,25.0,-0.0069864477199999995,-0.12868134279,0.0013531916099999998
20.0,35.0,-0.007134125555555557,-0.1255689644949495,0.022801329404040404
20.0,45.0,-0.007197335670000002,-0.11859157437000001,0.04340443961999999
20.0,55.0,-0.007225687535353536,-0.10813758898989899,0.06269621527272728
20.0,65.0,-0.007206139930000001,-0.09447844664000002,0.07993352526000001
20.0,75.0,-0.007245417544554455,-0.07794917771287127,0.09470011592079208
20.0,85.0,-0.007146300474747474,-0.05908281147474747,0.10604589008080807
20.0,95.0,-0.0070563262500000015,-0.038357444149999996,0.11379795350000001
20.0,105.0,-0.0070286386060606065,-0.016381566171717172,0.11782139996969697
20.0,115.0,-0.00695204558,0.0061926978600000005,0.11830314116999999
20.0,125.0,-0.0068258500599999985,0.02863375017,0.11491943724
20.0,135.0,-0.00661343213131313,0.049998808525252535,0.10763735033333333
20.0,145.0,-0.006364830376237625,0.06987150755445545,0.09648809115841586
20.0,155.0,-0.00638713302,0.08762694700000002,0.08213062370999998
20.0,165.0,-0.006180312499999999,0.10295396033,0.06492531649
20.0,175.0,-0.006005543683168317,0.11527086600990102,0.045344623603960396
20.0,185.0,-0.005880600849999998,0.12372083020999998,0.024108089229999997
20.0,195.0,-0.005715952769999999,0.12787576674,0.0019013886799999996
20.0,205.0,-0.005552117,0.12807115058000001,-0.020970517350000006
20.0,215.0,-0.005504801742574257,0.12437610596039604,-0.043627697693069296
20.0,225.0,-0.00541617754,0.11703890956000002,-0.06511130605
20.0,235.0,-0.005391949455445543,0.10618349703960397,-0.08459483272277228
20.0,245.0,-0.00535824532,0.09195020322,-0.10167194505999999
20.0,255.0,-0.005233174199999999,0.07453111914,-0.11581897311999999
20.0,265.0,-0.005396445881188118,0.05504755702970298,-0.12688443324752477
20.0,275.0,-0.00555450397,0.03394733893,-0.13450428697999997
20.0,285.0,-0.005654880920000001,0.012002036479999999,-0.13812233997
20.0,295.0,-0.005806956247524752,-0.010363196851485146,-0.13767619049504948
20.0,305.0,-0.005964979639999998,-0.03244013306,-0.13321530185
20.0,315.0,-0.006153870800000001,-0.05349942726,-0.12514026104999998
20.0,325.0,-0.006248917289999999,-0.07303304036,-0.11388984364
20.0,335.0,-0.006504039919999999,-0.08999602090000001,-0.0996706061
20.0,345.0,-0.00668913504040404,-0.1040926523838384,-0.08287310931313133
20.0,355.0,-0.006870063755578093,-0.1196465945730223,-0.05400529853296146
30.0,5.0,0.01191236448,-0.13569451985,-0.05731221866
30.0,15.0,0.011754109727272725,-0.14256078336363634,-0.033152138737373736
30.0,25.0,0.011752490179999998,-0.14523271490999998,-0.00830383932
30.0,35.0,0.01163677173,-0.14358436545999997,0.016272572370000002
30.0,45.0,0.01159955805050505,-0.13759831060606062,0.040152582686868686
30.0,55.0,0.011572557180000003,-0.12754982185,0.06282169005999999
30.0,65.0,0.01148714807070707,-0.11368607685858587,0.0833326578080808
30.0,75.0,0.0114532820990099,-0.0964622165940594,0.10118894391089109
30.0,85.0,0.011454768464646466,-0.07625355759595959,0.11559671956565656
30.0,95.0,0.011470397089999997,-0.05366950248000001,0.12602549439000002
30.0,105.0,0.01150799531313131,-0.029286498282828283,0.1324056621818182
30.0,115.0,0.0115574226,-0.00403331149,0.13475243814000004
30.0,125.0,0.01162154536,0.021506834479999997,0.13275180029
30.0,135.0,0.011921971747474747,0.04617379399999998,0.1263200830909091
30.0,145.0,0.011989669643564356,0.06925882109900992,0.11577126364356434
30.0,155.0,0.012106298219999999,0.09049305763000001,0.10092774809999999
30.0,165.0,0.012231236940000001,0.10903319874999999,0.08278768229999998
30.0,175.0,0.01252818429,0.12432594524000001,0.061897254839999985
30.0,185.0,0.012638736930693069,0.13548508458415842,0.03886953950495049
30.0,195.0,0.012820529919999999,0.14218598417,0.01418858182
30.0,205.0,0.012972126859999999,0.14435490812000001,-0.01131547579
30.0,215.0,0.013069381653465346,0.14218699345544555,-0.03700277825742575
30.0,225.0,0.01399806851,0.13633055115,-0.06284126062
30.0,235.0,0.013157154732673263,0.12501228102970297,-0.0845404717722772
30.0,245.0,0.01321115858,0.11039805573,-0.10497749182999999
30.0,255.0,0.013244875479999996,0.0923100152,-0.12240401369
30.0,265.0,0.013234582564356433,0.07134293483168318,-0.13655590407920792
30.0,275.0,0.013119847499999998,0.048347074899999995,-0.14694438012999997
30.0,285.0,0.013111470379999999,0.02407078421,-0.1530058405
30.0,295.0,0.013044676297029703,-0.0009216915841584156,-0.15441691434653462
30.0,305.0,0.012894778069999996,-0.02599948972,-0.15144057388
30.0,315.0,0.012795821760000003,-0.05027579391,-0.14426970738999997
30.0,325.0,0.012641096789999995,-0.07311202904,-0.13320736818999998
30.0,335.0,0.012617526959595959,-0.09366008098989898,-0.11867854541414143
30.0,345.0,0.012753571319999999,-0.11151404713000002,-0.10090902953
30.0,355.0,0.011953096003549695,-0.13054963352434076,-0.06974929740922921
40.0,5.0,0.033177942999999994,-0.13027347629000002,-0.07057940143
40.0,15.0,0.03318424312121212,-0.13948585028282828,-0.04692633096969698
40.0,25.0,0.03295313373,-0.14478328649000002,-0.02261078189
40.0,35.0,0.032883418505050506,-0.14566657109090908,0.002071413545454545
40.0,45.0,0.032799634189999996,-0.14206424287,0.02649486563
40.0,55.0,0.03272477321,-0.13427895702999998,0.05017886829999999
40.0,65.0,0.03266140316161616,-0.12258769090909089,0.07209500790909092
40.0,75.0,0.03263716713861386,-0.10724119972277225,0.09173955553465347
40.0,85.0,0.03264296388888888,-0.08863416317171716,0.10814569752525252
40.0,95.0,0.032625933319999995,-0.06728317577999998,0.12074678346
40.0,105.0,0.03260889187,-0.04351013376000001,0.12959583230000005
40.0,115.0,0.03258020552525253,-0.018543062959595957,0.13428514583838383
40.0,125.0,0.0326564189,0.00698527681,0.13477157255
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40.0,145.0,0.03283961857425742,0.05623167754455446,0.1223428057227723
40.0,155.0,0.03295443661,0.07889677331000002,0.10964273074
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40.0,215.0,0.03400410010891089,0.14373852346534652,-0.022863025841584162
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40.0,315.0,0.034006705199999994,-0.03644512681,-0.14864193088999997
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40.0,345.0,0.033583214349999994,-0.10084695235000002,-0.11170425151000002
40.0,355.0,0.03318677688495575,-0.12350932123783187,-0.08321893861725664
1 CHI OMEGA X_LUT Y_LUT Z_LUT
2 0.0 5.0 0.00014229634 -0.00023254486999999997 -0.009894858369999999
3 0.0 15.0 0.00016313820202020198 -0.00041960783838383833 -0.010073629676767677
4 0.0 25.0 0.00034932196999999996 -0.00071379974 -0.01024840709
5 0.0 35.0 0.0005627491199999999 -0.00095583667 -0.010508123190000001
6 0.0 45.0 0.0005172840303030303 -0.001207087 -0.010919191606060606
7 0.0 55.0 0.0004437322800000001 -0.0014695555799999998 -0.0110580758
8 0.0 65.0 0.0005326038799999999 -0.0018754464499999997 -0.010695493549999999
9 0.0 75.0 0.00073796727 -0.0024704472599999996 -0.010178348579999998
10 0.0 85.0 0.0008730389292929293 -0.0028956999292929285 -0.009835046282828282
11 0.0 95.0 0.00101557056 -0.0030298808299999993 -0.009567129810000002
12 0.0 105.0 0.00114888038 -0.0027969862 -0.00919058832
13 0.0 115.0 0.0012908393636363636 -0.0024310767474747474 -0.00855089711111111
14 0.0 125.0 0.0013948745 -0.00196036586 -0.0079598015
15 0.0 135.0 0.0015484157400000001 -0.00162683111 -0.00752952273
16 0.0 145.0 0.0017584307300000002 -0.0012593818100000002 -0.007550935670000002
17 0.0 155.0 0.00196889593 -0.0006622602699999998 -0.007947066780000001
18 0.0 165.0 0.0019583810499999997 1.7464700000000476e-06 -0.00818402823
19 0.0 175.0 0.001909517356435644 0.0005719413069306931 -0.008354902207920794
20 0.0 185.0 0.0019363406700000003 0.00085621518 -0.008633011150000001
21 0.0 195.0 0.0019128934500000003 0.0007753404600000001 -0.008995938260000001
22 0.0 205.0 0.0018273817099999999 0.00057753482 -0.00955420864
23 0.0 215.0 0.0017758994554455448 0.00035128851485148523 -0.010231295594059407
24 0.0 225.0 0.0017187485148514852 0.00018574324752475255 -0.010738563683168318
25 0.0 235.0 0.001559998257425743 1.5503475247524813e-05 -0.010984694742574257
26 0.0 245.0 0.0014374387676767675 -0.0003966151818181818 -0.010852075464646468
27 0.0 255.0 0.0012821148712871288 -0.0010600794950495049 -0.010664607514851486
28 0.0 265.0 0.00130684673 -0.0018442044000000002 -0.010600893299999999
29 0.0 275.0 0.00118595904 -0.00211220914 -0.010555225739999998
30 0.0 285.0 0.0009510556534653465 -0.001974818871287129 -0.01034006696039604
31 0.0 295.0 0.0006792990099999999 -0.0016423998700000003 -0.00993202415
32 0.0 305.0 0.0005749152199999999 -0.0014979878699999999 -0.00943677706
33 0.0 315.0 0.00042278352000000007 -0.0014256718399999998 -0.00911322174
34 0.0 325.0 0.00030108441999999997 -0.0013331216899999999 -0.009115569620000001
35 0.0 335.0 0.00023936350000000007 -0.0010783037699999998 -0.00932330819
36 0.0 345.0 0.00018522991999999998 -0.00060998204 -0.009620765540000001
37 0.0 355.0 4.745071966527195e-05 -0.000546687461087866 -0.009962269717154812
38 10.0 5.0 -0.01591763679 -0.08804631386999998 -0.026789673
39 10.0 15.0 -0.015988676040404038 -0.09015084251515153 -0.011420427383838387
40 10.0 25.0 -0.015831084930000003 -0.08957620253999997 0.00413756571
41 10.0 35.0 -0.015929713505050503 -0.08647765978787877 0.018613951909090903
42 10.0 45.0 -0.01600447223 -0.08071860056 0.03252657515
43 10.0 55.0 -0.015990673212121213 -0.0725280619090909 0.045446493070707056
44 10.0 65.0 -0.01595263976 -0.06228067373 0.05692412547
45 10.0 75.0 -0.015864398782178216 -0.05017474341584158 0.06648902922772276
46 10.0 85.0 -0.015797105505050504 -0.03659769380808081 0.07364969330303031
47 10.0 95.0 -0.0157386268 -0.0217799442 0.07823906543999999
48 10.0 105.0 -0.01564649862 -0.0060322749499999995 0.08014974991000001
49 10.0 115.0 -0.015556421121212121 0.009932454373737373 0.07951900180808082
50 10.0 125.0 -0.01538263678 0.02551957347 0.07636422413
51 10.0 135.0 -0.01515457987878788 0.0402813512020202 0.0703996895151515
52 10.0 145.0 -0.014840112306930693 0.05379420316831684 0.061605985089108896
53 10.0 155.0 -0.0148724282 0.06568627323000001 0.05072328261999999
54 10.0 165.0 -0.014789010270000003 0.07568861019000002 0.03787399756999999
55 10.0 175.0 -0.014619072349999998 0.08351100566000001 0.02360509006
56 10.0 185.0 -0.014474358633663365 0.08841444756435644 0.008260435524752474
57 10.0 195.0 -0.014404379390000001 0.09032312503000002 -0.0076103307700000015
58 10.0 205.0 -0.014346300239999998 0.08928237127000001 -0.023753438380000002
59 10.0 215.0 -0.014341142663366334 0.08564292699009901 -0.039542209871287134
60 10.0 225.0 -0.014287146420000006 0.07954680816000001 -0.054411911240000006
61 10.0 235.0 -0.01433867815841584 0.07095144323762376 -0.06751849602970296
62 10.0 245.0 -0.01436704663 0.05992948311 -0.07865970086
63 10.0 255.0 -0.014464066679999998 0.04692396496000001 -0.08766316239999997
64 10.0 265.0 -0.014348701792079211 0.032188289227722766 -0.09434255266336633
65 10.0 275.0 -0.014691694620000003 0.01713776347 -0.09867947922999999
66 10.0 285.0 -0.01485948969 0.0018451436000000002 -0.10008660412
67 10.0 295.0 -0.015030789810000002 -0.013631148019999999 -0.09856060164000001
68 10.0 305.0 -0.015222489643564357 -0.028821693504950494 -0.09430179201980199
69 10.0 315.0 -0.015445123380000004 -0.043241432780000005 -0.08759527301999999
70 10.0 325.0 -0.01559200637 -0.05622644127999999 -0.07884594511
71 10.0 335.0 -0.015716036686868683 -0.06731748278787879 -0.06817851016161616
72 10.0 345.0 -0.01579682517 -0.07616188095 -0.05583458576
73 10.0 355.0 -0.015925887534989858 -0.08567110500862068 -0.03510062020334685
74 20.0 5.0 -0.00688084376 -0.12357017996000001 -0.042623356700000004
75 20.0 15.0 -0.006961711313131312 -0.12802664435353536 -0.02080554925252525
76 20.0 25.0 -0.0069864477199999995 -0.12868134279 0.0013531916099999998
77 20.0 35.0 -0.007134125555555557 -0.1255689644949495 0.022801329404040404
78 20.0 45.0 -0.007197335670000002 -0.11859157437000001 0.04340443961999999
79 20.0 55.0 -0.007225687535353536 -0.10813758898989899 0.06269621527272728
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181 40.0 355.0 0.03318677688495575 -0.12350932123783187 -0.08321893861725664

137
catkin_ws/src/smargon/config/X10SA/smargonparameters.yaml Normal file
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@@ -0,0 +1,137 @@
#SmarGonMCS2 Configuration File in YAML format
#This must be loaded in order for smargopolo to function
#All lengths in [mm], angles in [deg]
#Wayne Glettig 16.11.2021
Description: 'SmarGon sn-002, x06sa-smargopolo'
MCS2_locator: 'usb:sn:MCS2-00007772'
redis_host : 'x06sa-cons-705.psi.ch'
length: {
l01: 50.500000,
l11: 16.500000,
l12: 16.500000,
l21: 16.500000,
l22: 16.500000,
l23: 13.500000,
l31: 11.500000,
l32: 28.500000,
l33: 11.500000,
l34: 28.500000,
l41: 76.500000,
l42: 25.500000,
l51: 10.000000,
l52: 2.500000,
l61: 64.422000,
l71: 5.000000,
l72: 17.670000,
l73: 5.200000,
l74: 10.719000000,
offsetQ1: 1.800000,
offsetQ2: -0.500000,
offsetQ3: 0.000000,
offsetQ4: -0.651,
offsetQ5: 0.000000,
offsetQ6: 0.000000,
}
axis: {
SHX: {
#Kalibrier PIN
start : -0.353,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
amax : 10.000,
},
SHY: {
#Kalibrier PIN
start : 0.078,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
amax : 10.000,
},
SHZ: {
#Kalibrier PIN
start : 17.256,
limpos: 22.000,
limneg: 10.000,
vmax : 10.000,
amax : 10.000,
},
OMEGA: {
start : 0.000,
limpos: 3600.000,
limneg: -3600.000,
vmax : 10.000,
amax : 10.000,
},
CHI: {
start : 0.000,
limpos: 90.000,
limneg: 0.000,
vmax : 5.000,
amax : 30.000,
},
PHI: {
start : 0.000,
limpos: 3600.000,
limneg: -3600.000,
vmax : 40.000,
amax : 40.000,
},
OX: {
start : -0.05467,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,
amax : 1.00,
},
OY: {
start : -0.18502,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,
amax : 1.00,
},
OZ: {
start : 189.307,
limpos: 200.000,
limneg: 180.000,
vmax : 1.00,
amax : 1.00,
},
q1: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q2: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q3: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q4: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q5: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
q6: {
start : 0.000,
limpos: 10.000,
limneg: -10.000,
},
}
default_active_correction: 1

360
catkin_ws/src/smargon/config/calibrationLUT.csv
View File

@@ -1,181 +1,181 @@
CHI,OMEGA,X_LUT,Y_LUT,Z_LUT
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30.0,145.0,0.011989669643564356,0.06925882109900992,0.11577126364356434
30.0,155.0,0.012106298219999999,0.09049305763000001,0.10092774809999999
30.0,165.0,0.012231236940000001,0.10903319874999999,0.08278768229999998
30.0,175.0,0.01252818429,0.12432594524000001,0.061897254839999985
30.0,185.0,0.012638736930693069,0.13548508458415842,0.03886953950495049
30.0,195.0,0.012820529919999999,0.14218598417,0.01418858182
30.0,205.0,0.012972126859999999,0.14435490812000001,-0.01131547579
30.0,215.0,0.013069381653465346,0.14218699345544555,-0.03700277825742575
30.0,225.0,0.01399806851,0.13633055115,-0.06284126062
30.0,235.0,0.013157154732673263,0.12501228102970297,-0.0845404717722772
30.0,245.0,0.01321115858,0.11039805573,-0.10497749182999999
30.0,255.0,0.013244875479999996,0.0923100152,-0.12240401369
30.0,265.0,0.013234582564356433,0.07134293483168318,-0.13655590407920792
30.0,275.0,0.013119847499999998,0.048347074899999995,-0.14694438012999997
30.0,285.0,0.013111470379999999,0.02407078421,-0.1530058405
30.0,295.0,0.013044676297029703,-0.0009216915841584156,-0.15441691434653462
30.0,305.0,0.012894778069999996,-0.02599948972,-0.15144057388
30.0,315.0,0.012795821760000003,-0.05027579391,-0.14426970738999997
30.0,325.0,0.012641096789999995,-0.07311202904,-0.13320736818999998
30.0,335.0,0.012617526959595959,-0.09366008098989898,-0.11867854541414143
30.0,345.0,0.012753571319999999,-0.11151404713000002,-0.10090902953
30.0,355.0,0.011953096003549695,-0.13054963352434076,-0.06974929740922921
40.0,5.0,0.033177942999999994,-0.13027347629000002,-0.07057940143
40.0,15.0,0.03318424312121212,-0.13948585028282828,-0.04692633096969698
40.0,25.0,0.03295313373,-0.14478328649000002,-0.02261078189
40.0,35.0,0.032883418505050506,-0.14566657109090908,0.002071413545454545
40.0,45.0,0.032799634189999996,-0.14206424287,0.02649486563
40.0,55.0,0.03272477321,-0.13427895702999998,0.05017886829999999
40.0,65.0,0.03266140316161616,-0.12258769090909089,0.07209500790909092
40.0,75.0,0.03263716713861386,-0.10724119972277225,0.09173955553465347
40.0,85.0,0.03264296388888888,-0.08863416317171716,0.10814569752525252
40.0,95.0,0.032625933319999995,-0.06728317577999998,0.12074678346
40.0,105.0,0.03260889187,-0.04351013376000001,0.12959583230000005
40.0,115.0,0.03258020552525253,-0.018543062959595957,0.13428514583838383
40.0,125.0,0.0326564189,0.00698527681,0.13477157255
40.0,135.0,0.03287754112121212,0.0321529648080808,0.13065348329292928
40.0,145.0,0.03283961857425742,0.05623167754455446,0.1223428057227723
40.0,155.0,0.03295443661,0.07889677331000002,0.10964273074
40.0,165.0,0.03315362148,0.09912794898000002,0.09343703810999998
40.0,175.0,0.03336961271287128,0.11639691203960396,0.07396272164356438
40.0,185.0,0.03353672496,0.12976926276,0.05199032179
40.0,195.0,0.033762732829999996,0.13882621215000002,0.02818118596
40.0,205.0,0.033927869129999996,0.14348419741000001,0.00292875055
40.0,215.0,0.03400410010891089,0.14373852346534652,-0.022863025841584162
40.0,225.0,0.034134402509999995,0.13971451795,-0.04817114708999999
40.0,235.0,0.03424372488118811,0.1312840901386139,-0.07205075813861386
40.0,245.0,0.034317663529999994,0.11868981008000003,-0.0937452839
40.0,255.0,0.034570307200000004,0.10219723886000001,-0.11278797087999999
40.0,265.0,0.034558271019801974,0.08289625394059406,-0.1289200689009901
40.0,275.0,0.034465402400000004,0.06122360154,-0.14153091068999998
40.0,285.0,0.034357477850000005,0.03787761521,-0.14998357167
40.0,295.0,0.03425578624,0.013427099969999997,-0.15392404754
40.0,305.0,0.03413778581188119,-0.011610588534653467,-0.15342246940594056
40.0,315.0,0.034006705199999994,-0.03644512681,-0.14864193088999997
40.0,325.0,0.03384991792,-0.060214114699999995,-0.1399663208
40.0,335.0,0.03371325011111111,-0.08186248223232323,-0.12762956339393938
40.0,345.0,0.033583214349999994,-0.10084695235000002,-0.11170425151000002
40.0,355.0,0.03318677688495575,-0.12350932123783187,-0.08321893861725664
1 CHI OMEGA X_LUT Y_LUT Z_LUT
2 0.0 5.0 0.00016064297600000001 0.00014229634 -0.00028569966399999994 -0.00023254486999999997 0.000414389176 -0.009894858369999999
3 0.0 15.0 0.00018348120202020204 0.00016313820202020198 -0.000705128898989899 -0.00041960783838383833 -0.00018822031313131318 -0.010073629676767677
4 0.0 25.0 0.00020901227272727277 0.00034932196999999996 -0.001010301323232323 -0.00071379974 -0.0006751515252525252 -0.01024840709
5 0.0 35.0 0.00028598748000000006 0.0005627491199999999 -0.0014734549499999996 -0.00095583667 -0.0010259093900000002 -0.010508123190000001
6 0.0 45.0 0.00039433084 0.0005172840303030303 -0.0018499575900000002 -0.001207087 -0.00119145326 -0.010919191606060606
7 0.0 55.0 0.000496749101010101 0.0004437322800000001 -0.002225627484848485 -0.0014695555799999998 -0.001097155606060606 -0.0110580758
8 0.0 65.0 0.00062637733 0.0005326038799999999 -0.0026604163399999996 -0.0018754464499999997 -0.00074156994 -0.010695493549999999
9 0.0 75.0 0.00078992149 0.00073796727 -0.00316196979 -0.0024704472599999996 -0.00028778732000000004 -0.010178348579999998
10 0.0 85.0 0.0009669700297029702 0.0008730389292929293 -0.0033866915247524752 -0.0028956999292929285 0.00013126744554455447 -0.009835046282828282
11 0.0 95.0 0.0011149217171717172 0.00101557056 -0.0034413571616161618 -0.0030298808299999993 0.0005617231111111112 -0.009567129810000002
12 0.0 105.0 0.0012714525900000002 0.00114888038 -0.00329839026 -0.0027969862 0.0011433485500000002 -0.00919058832
13 0.0 115.0 0.00141796973 0.0012908393636363636 -0.0028310170000000008 -0.0024310767474747474 0.0017722051500000003 -0.00855089711111111
14 0.0 125.0 0.00155634982 0.0013948745 -0.0025178559700000003 -0.00196036586 0.00243972893 -0.0079598015
15 0.0 135.0 0.00168194267 0.0015484157400000001 -0.00211871325 -0.00162683111 0.00282037329 -0.00752952273
16 0.0 145.0 0.0017706281485148517 0.0017584307300000002 -0.0014976181386138613 -0.0012593818100000002 0.0027708653861386137 -0.007550935670000002
17 0.0 155.0 0.0018474284040404041 0.00196889593 -0.0009238867676767676 -0.0006622602699999998 0.0025903227070707066 -0.007947066780000001
18 0.0 165.0 0.0019007053300000001 0.0019583810499999997 -0.00020061356999999998 1.7464700000000476e-06 0.0022815042900000003 -0.00818402823
19 0.0 175.0 0.0019241514600000001 0.001909517356435644 0.00040109052999999994 0.0005719413069306931 0.0018951715600000001 -0.008354902207920794
20 0.0 185.0 0.0019225626699999998 0.0019363406700000003 0.0006654242299999999 0.00085621518 0.0013781971400000002 -0.008633011150000001
21 0.0 195.0 0.0018703687800000002 0.0019128934500000003 0.0005521007599999999 0.0007753404600000001 0.0008315325900000001 -0.008995938260000001
22 0.0 205.0 0.001806708485148515 0.0018273817099999999 0.0002861156831683168 0.00057753482 0.00017604660396039603 -0.00955420864
23 0.0 215.0 0.00171936146 0.0017758994554455448 3.189291999999999e-05 0.00035128851485148523 -0.0004574407600000001 -0.010231295594059407
24 0.0 225.0 0.0016700483 0.0017187485148514852 -0.00042971681 0.00018574324752475255 -0.0007799236599999999 -0.010738563683168318
25 0.0 235.0 0.0015837155899999997 0.001559998257425743 -0.00087525037 1.5503475247524813e-05 -0.0008875160699999999 -0.010984694742574257
26 0.0 245.0 0.00144013951 0.0014374387676767675 -0.0013796833699999996 -0.0003966151818181818 -0.0007084294100000001 -0.010852075464646468
27 0.0 255.0 0.0012322176039603959 0.0012821148712871288 -0.0018854952673267322 -0.0010600794950495049 -0.0006059926435643565 -0.010664607514851486
28 0.0 265.0 0.0010174928 0.00130684673 -0.0022073564100000003 -0.0018442044000000002 -0.00039959824000000005 -0.010600893299999999
29 0.0 275.0 0.00084932353 0.00118595904 -0.00237076723 -0.00211220914 -0.00014645366000000005 -0.010555225739999998
30 0.0 285.0 0.0007124318399999999 0.0009510556534653465 -0.00232701697 -0.001974818871287129 0.00023861066 -0.01034006696039604
31 0.0 295.0 0.0005859146534653466 0.0006792990099999999 -0.002172510574257426 -0.0016423998700000003 0.0007777764752475246 -0.00993202415
32 0.0 305.0 0.00048488161 0.0005749152199999999 -0.00197387648 -0.0014979878699999999 0.0012240252799999999 -0.00943677706
33 0.0 315.0 0.00038554363636363645 0.00042278352000000007 -0.001756216232323232 -0.0014256718399999998 0.001516873272727273 -0.00911322174
34 0.0 325.0 0.00029509097 0.00030108441999999997 -0.0015277098799999997 -0.0013331216899999999 0.0016270547 -0.009115569620000001
35 0.0 335.0 0.00021980823 0.00023936350000000007 -0.00114958963 -0.0010783037699999998 0.0014145105499999997 -0.00932330819
36 0.0 345.0 0.00016582803030303035 0.00018522991999999998 -0.0006540183333333333 -0.00060998204 0.000971485808080808 -0.009620765540000001
37 0.0 355.0 9.1420834760274e-05 4.745071966527195e-05 -0.00031850398030821924 -0.000546687461087866 0.0008497178912671233 -0.009962269717154812
38 10.0 5.0 -0.015124552786764707 -0.01591763679 -0.07503175269117646 -0.08804631386999998 -0.02238571888235294 -0.026789673
39 10.0 15.0 -0.01501030071717172 -0.015988676040404038 -0.07801789535353534 -0.09015084251515153 -0.007293024262626262 -0.011420427383838387
40 10.0 25.0 -0.014902530202020203 -0.015831084930000003 -0.07847721985858586 -0.08957620253999997 0.00577249114141414 0.00413756571
41 10.0 35.0 -0.014824851400000004 -0.015929713505050503 -0.07639657508 -0.08647765978787877 0.01842992748 0.018613951909090903
42 10.0 45.0 -0.014742193019999999 -0.01600447223 -0.0720584359 -0.08071860056 0.030937025559999998 0.03252657515
43 10.0 55.0 -0.014599902940594062 -0.015990673212121213 -0.06574210206930692 -0.0725280619090909 0.04285064772277228 0.045446493070707056
44 10.0 65.0 -0.014451144747474748 -0.01595263976 -0.057736455383838384 -0.06228067373 0.0535768337070707 0.05692412547
45 10.0 75.0 -0.01431795598989899 -0.015864398782178216 -0.04789711294949495 -0.05017474341584158 0.06267480831313132 0.06648902922772276
46 10.0 85.0 -0.014096222910891089 -0.015797105505050504 -0.03645567744554455 -0.03659769380808081 0.06989834562376236 0.07364969330303031
47 10.0 95.0 -0.01398538086 -0.0157386268 -0.023620167059999995 -0.0217799442 0.07508548858 0.07823906543999999
48 10.0 105.0 -0.013826205762376234 -0.01564649862 -0.010518431752475249 -0.0060322749499999995 0.0783947172079208 0.08014974991000001
49 10.0 115.0 -0.013691252575757576 -0.015556421121212121 0.0035026631818181816 0.009932454373737373 0.07904598054545453 0.07951900180808082
50 10.0 125.0 -0.013509532530000002 -0.01538263678 0.01697127375 0.02551957347 0.07753999198999999 0.07636422413
51 10.0 135.0 -0.01345404882828283 -0.01515457987878788 0.030247260737373743 0.0402813512020202 0.0733616158080808 0.0703996895151515
52 10.0 145.0 -0.013350686861386138 -0.014840112306930693 0.04262063282178219 0.05379420316831684 0.06676395923762377 0.061605985089108896
53 10.0 155.0 -0.013292880649999998 -0.0148724282 0.0533822851 0.06568627323000001 0.05822860974 0.05072328261999999
54 10.0 165.0 -0.013267004818181818 -0.014789010270000003 0.0627052501818182 0.07568861019000002 0.04777292662626262 0.03787399756999999
55 10.0 175.0 -0.013285428229999998 -0.014619072349999998 0.0700766485 0.08351100566000001 0.03590158893999999 0.02360509006
56 10.0 185.0 -0.013289046379999997 -0.014474358633663365 0.07516688085 0.08841444756435644 0.023175980159999998 0.008260435524752474
57 10.0 195.0 -0.013360561090000002 -0.014404379390000001 0.07753178018 0.09032312503000002 0.00924806158 -0.0076103307700000015
58 10.0 205.0 -0.01346005906930693 -0.014346300239999998 0.077265060990099 0.08928237127000001 -0.00504936307920792 -0.023753438380000002
59 10.0 215.0 -0.013549833540000005 -0.014341142663366334 0.07478494716999999 0.08564292699009901 -0.019066620689999998 -0.039542209871287134
60 10.0 225.0 -0.013623720376237622 -0.014287146420000006 0.07020380637623762 0.07954680816000001 -0.03221761565346534 -0.054411911240000006
61 10.0 235.0 -0.013777771200000002 -0.01433867815841584 0.06299677852 0.07095144323762376 -0.04418184326999999 -0.06751849602970296
62 10.0 245.0 -0.013951992700000002 -0.01436704663 0.05401689352000001 0.05992948311 -0.054424951939999994 -0.07865970086
63 10.0 255.0 -0.0141086505 -0.014464066679999998 0.04300556391000001 0.04692396496000001 -0.06327666014 -0.08766316239999997
64 10.0 265.0 -0.014251547069999999 -0.014348701792079211 0.030837429030000002 0.032188289227722766 -0.07013546423 -0.09434255266336633
65 10.0 275.0 -0.014441486029999999 -0.014691694620000003 0.0182229051 0.01713776347 -0.07472464306 -0.09867947922999999
66 10.0 285.0 -0.014616462330000003 -0.01485948969 0.004982127409999999 0.0018451436000000002 -0.07690537085 -0.10008660412
67 10.0 295.0 -0.014775050730000003 -0.015030789810000002 -0.008444643940000001 -0.013631148019999999 -0.07671882233999999 -0.09856060164000001
68 10.0 305.0 -0.014902105702970299 -0.015222489643564357 -0.021564306039603957 -0.028821693504950494 -0.07425317058415841 -0.09430179201980199
69 10.0 315.0 -0.015019739030303026 -0.015445123380000004 -0.034172791818181815 -0.043241432780000005 -0.0696339302121212 -0.08759527301999999
70 10.0 325.0 -0.015120523603960396 -0.01559200637 -0.04575313340594059 -0.05622644127999999 -0.06278575583168317 -0.07884594511
71 10.0 335.0 -0.015135775676767676 -0.015716036686868683 -0.05577021703030303 -0.06731748278787879 -0.05420263822222223 -0.06817851016161616
72 10.0 345.0 -0.01518440846 -0.01579682517 -0.06414248548 -0.07616188095 -0.04468880056 -0.05583458576
73 10.0 355.0 -0.015152245351058339 -0.015925887534989858 -0.07346810532421269 -0.08567110500862068 -0.027771419670108415 -0.03510062020334685
74 20.0 5.0 -0.008681475694117648 -0.00688084376 -0.1026631783529412 -0.12357017996000001 -0.04114609268235294 -0.042623356700000004
75 20.0 15.0 -0.00853449429 -0.006961711313131312 -0.10918517887000002 -0.12802664435353536 -0.018864064490000002 -0.02080554925252525
76 20.0 25.0 -0.00841533294949495 -0.0069864477199999995 -0.11097676214141414 -0.12868134279 -0.0001736385959595961 0.0013531916099999998
77 20.0 35.0 -0.008261852515151517 -0.007134125555555557 -0.10947364077777778 -0.1255689644949495 0.018359639060606062 0.022801329404040404
78 20.0 45.0 -0.00814136689108911 -0.007197335670000002 -0.10469705376237624 -0.11859157437000001 0.036498095425742574 0.04340443961999999
79 20.0 55.0 -0.007951927650000001 -0.007225687535353536 -0.09694324402000001 -0.10813758898989899 0.053982283219999996 0.06269621527272728
80 20.0 65.0 -0.0079260068989899 -0.007206139930000001 -0.08633831525252524 -0.09447844664000002 0.06970889235353535 0.07993352526000001
81 20.0 75.0 -0.007764753880000002 -0.007245417544554455 -0.07324860922 -0.07794917771287127 0.08359349871999999 0.09470011592079208
82 20.0 85.0 -0.0076074116831683185 -0.007146300474747474 -0.05785051673267327 -0.05908281147474747 0.09501557486138615 0.10604589008080807
83 20.0 95.0 -0.007441912850000002 -0.0070563262500000015 -0.040600020050000005 -0.038357444149999996 0.10357853897000002 0.11379795350000001
84 20.0 105.0 -0.0072850121900000005 -0.0070286386060606065 -0.022028252569999997 -0.016381566171717172 0.10914887422999998 0.11782139996969697
85 20.0 115.0 -0.00717427391919192 -0.00695204558 -0.002848031888888889 0.0061926978600000005 0.11140488790909092 0.11830314116999999
86 20.0 125.0 -0.007044085168316831 -0.0068258500599999985 0.016749977386138613 0.02863375017 0.11033331014851487 0.11491943724
87 20.0 135.0 -0.006969520808080807 -0.00661343213131313 0.03585124471717173 0.049998808525252535 0.10562343878787879 0.10763735033333333
88 20.0 145.0 -0.006867422613861388 -0.006364830376237625 0.0536268054158416 0.06987150755445545 0.09763215635643564 0.09648809115841586
89 20.0 155.0 -0.006776665666666667 -0.00638713302 0.06973737083838386 0.08762694700000002 0.08658987726262628 0.08213062370999998
90 20.0 165.0 -0.006775344920000001 -0.006180312499999999 0.08376116087999998 0.10295396033 0.07306301605 0.06492531649
91 20.0 175.0 -0.006765748828282828 -0.006005543683168317 0.09498451050505052 0.11527086600990102 0.05745836356565657 0.045344623603960396
92 20.0 185.0 -0.006864497217821782 -0.005880600849999998 0.10311540555445543 0.12372083020999998 0.03983962201980198 0.024108089229999997
93 20.0 195.0 -0.006897375277227722 -0.005715952769999999 0.10796908692079207 0.12787576674 0.02075267622772277 0.0019013886799999996
94 20.0 205.0 -0.006961233727272726 -0.005552117 0.10940276928282829 0.12807115058000001 0.0011132889292929293 -0.020970517350000006
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12
catkin_ws/src/smargon/config/smargonparameters.yaml
View File

@@ -35,7 +35,7 @@ length: {
axis: {
SHX: {
#Kalibrier PIN
start : 0.0,
start : -0.353,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
@@ -43,7 +43,7 @@ axis: {
},
SHY: {
#Kalibrier PIN
start : 0.0,
start : 0.078,
limpos: 2.00,
limneg: -2.00,
vmax : 10.000,
@@ -51,7 +51,7 @@ axis: {
},
SHZ: {
#Kalibrier PIN
start : 18.0,
start : 17.256,
limpos: 22.000,
limneg: 10.000,
vmax : 10.000,
@@ -67,7 +67,7 @@ axis: {
},
CHI: {
start : 0.000,
limpos: 40.000,
limpos: 90.000,
limneg: 0.000,
vmax : 5.000,
amax : 30.000,
@@ -81,14 +81,14 @@ axis: {
},
OX: {
start : -0.0647702,
start : -0.05467,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,
amax : 1.00,
},
OY: {
start : -0.1346207,
start : -0.18502,
limpos: 2.500,
limneg: -2.500,
vmax : 1.00,