pshell_config/bernina_robot
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delta and gamma behave now like seperate motors

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gac-bernina
2024-08-27 08:39:07 +02:00
parent 2900825ac8
commit e24126b64f
1 changed files with 4 additions and 14 deletions
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script/devices/RobotBernina.py
+4 -14
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@@ -215,22 +215,12 @@ class RobotBernina(RobotTCP):
rz = math.asin(-math.sin(ry)*math.sin(rx)*math.sqrt(1/(math.cos(rx)**2+(math.sin(ry)*math.sin(rx))**2)))
rx, ry, rz = self.rad2deg([rx, ry, rz])
#end new try
#Necessary for delta or gamma larger 90
if self.rad2deg(delta) > 90:
rz = 180-rz
print rz
#Necessary to keep detector orientation for gamma larger 90
if self.rad2deg(gamma) > 90:
rz = 180-rz
# New try: first gamme
#ry = gamma
#rx = -math.acos(math.cos(delta)*math.cos(gamma)/math.cos(ry))
#rz = -math.asin(-math.sin(-math.sin(ry)*math.sin(rx)*math.sqrt(1/(math.cos(rx)**2+(math.sin(ry)*math.sin(rx))**2))))
#rx, ry, rz = self.rad2deg([rx, ry, rz])
# End new try
#rz = -math.asin(-math.sin(-math.sin(gamma)*math.sin(-delta)*math.sqrt(1/(math.cos(-delta)**2+(math.sin(gamma)*math.sin(-delta))**2))))
#rx, ry, rz = self.rad2deg([-delta,+gamma, rz])
if self.rad2deg(delta) > 90:
rz = -rz
if abs(rz//180) > 0:
rz = rz - (rz+180)//360*360