script/calibration/ScanYZ.py

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+import plotutils
+from mathutils import fit_gaussian, Gaussian
+
+SINGLE_PASS = False
+if SINGLE_PASS:
+    STEP_SIZE = 0.2
+else:
+    STEP_SIZE = 1.0
+STEP_Z_FINAL = 0.1
+    
+RANGE = [-5.0, 5.0]
+LATENCY = 0.05
+
+Z_FINAL_OFFSET = 0.0
+
+
+SINGLE_PASS = True
+STEP_SIZE = 0.1
+
+
+robot.enable()
+move_to_laser()
+
+step_y = STEP_SIZE
+step_z = STEP_SIZE
+range_y = [RANGE[0], RANGE[1]]
+range_z = [RANGE[0], RANGE[1]]
+
+robot.set_motors_enabled(True)
+current_y = robot_y.getPosition()
+current_z = robot_z.getPosition()
+
+print "Current pos y,z" , current_y, ",", current_z
+ret = ascan([robot_y, robot_z], ue.readable, [range_y[0], range_z[0]], [range_y[1], range_z[1]], [step_y,step_z], latency = LATENCY, relative = True , zigzag=False, title = "Scan XY")
+data = ret.getData(0)[0]
+#plot(Convert.transpose(data), title="Data")
+
+integ = []
+for x in data: integ.append(sum(   [ (0.0 if (math.isnan(y)) else y)  for y  in x]))
+
+xdata= frange(range_y[0], range_y[1], step_y , False, True)
+p = plot(integ, title = "Fit", xdata=xdata)[0]
+
+
+max_x_index = integ.index(max(integ))
+max_x = xdata[max_x_index]
+try:
+    (normalization, mean_val, sigma) = fit_gaussian(integ, xdata)
+except:
+    raise Exception("Invalid Fit")    
+gaussian = Gaussian(normalization, mean_val, sigma)
+xdata= frange(range_y[0], range_y[1], step_y/100.0 , False, True)
+plot_function(p, gaussian, "Fit", xdata, show_points = False, show_lines = True, color = Color.BLUE)
+
+#So 
+if abs(mean_val - max_x) > 1.0:
+    raise Exception("Invalid Y detection")
+y_offset = mean_val    
+center_y = current_y + y_offset
+
+print "Y offset = ", y_offset
+
+robot_y.move(center_y)
+if SINGLE_PASS:
+    z_scan_data = data[max_x_index]        
+else:    
+    step_z = STEP_Z_FINAL
+    ret2 = lscan(robot_z, ue.readable, range_z[0], range_z[1], step_z, latency = LATENCY, relative = True , zigzag=False)
+    z_scan_data = ret2.getData(0)[0]
+    
+max_z_index= z_scan_data.index(max(z_scan_data))    
+last_z_index = 0
+for i in range(len(z_scan_data)):
+    if not math.isnan(z_scan_data[i]):
+        last_z_index = i    
+#Shape is cone: z is inceraseing. For proper detection last Z must be furthest    
+if abs(max_z_index - last_z_index) * step_z > 1.0: 
+    raise Exception("Invalid Z detection")
+
+if SINGLE_PASS:
+    max_z = ret.getPositions(1)[len(data[0]) * max_x_index + last_z_index]    
+else:    
+    max_z = ret2.getPositions(0)[last_z_index]    
+
+z_offset = max_z - current_z + Z_FINAL_OFFSET
+
+robot_z.move(max_z + Z_FINAL_OFFSET)
+
+print "Z offset = ", z_offset
+
+
+#Updating tool:
+#update_tool(None, x_offset=x_offset, z_offset=z_offset)