script/test/RobotCartesianScan.py

@@ -0,0 +1,28 @@
+import plotutils
+from mathutils import fit_gaussian, Gaussian
+
+robot.enable()
+move_to_laser()
+
+#robot.reset_motion("jLaser")
+
+#import ch.psi.pshell.device.Timestamp as Timestamp
+#sensor = Timestamp()
+
+#ret = lscan(robot_z, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True)
+#ret = lscan(robot_x, sensor, -50.0, 0.0, 0.5, latency = 0, relative = True)
+
+robot.set_motors_enabled(True)
+ret = lscan(robot_x, ue.readable, -1.5, 1.5, 0.1, latency = 0.01, relative = True)
+
+x,y = ret.getPositions(0), ret.getReadable(0)
+y = [100.0-v for v in y]
+(norm, mea, sigma) = fit(y, xdata=x)
+print "Maximum at " + str(mea)
+
+
+
+robot.set_motors_enabled(True)
+ret = lscan(robot_rz, ue.readable, 0.0, 40.0, 1.0, latency = 0.01, relative = True, range = "auto")
+
+

script/test/TestLaserScan.py

@@ -0,0 +1,12 @@
+robot.set_motors_enabled(True)
+steps_x = 10
+steps_y = 8
+#ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [10,10], latency = 0.01, relative = True , zigzag=True)
+ret = ascan([robot_x, robot_z], ue.readable, [-10.0, -10.0], [10.0, 10.0], [steps_y,steps_x], latency = 0.01, relative = True , zigzag=False)
+data = Convert.transpose(Convert.toBidimensional(to_array(ret.getReadable(0),'d'),steps_x+1,steps_y+1))
+plot(data, title="data")
+
+data = ret.getData(0)
+plot(data, title="data2")
+        
+

script/test/TestRobot.py

@@ -22,7 +22,7 @@ print robot.get_emergency_stop_sts()
 print robot.get_safety_fault_signal()
 print robot.stop()
 print robot.resume()
-print robot.resetMotion()
+print robot.reset_motion()
 print robot.is_empty()
 print robot.is_settled()
 print robot.get_move_id()

script/test/TestRobot2.py

@@ -30,7 +30,7 @@ try:
     step = 11
     robot.resume()
     step = 12
-    robot.resetMotion()
+    robot.reset_motion()
     step = 13
     robot.is_empty()
     step = 14