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")
+
+