Motor Test 3: Now it should work
This commit is contained in:
boccioli_m
@@ -1,5 +1,5 @@
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#TestingList for pshell: configuration properties
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#Fri Oct 16 15:40:43 CEST 2015
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customPanel=
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#Mon Oct 19 15:22:19 CEST 2015
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customPanel=Kollimators
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showEnabledTestsOnly=true
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listFilter=parallelizeOneTest
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listFilter=LabTests2
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@@ -53,7 +53,7 @@ def startTest(testName, DEVICE, params):
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idInkr = Channel(DEVICE + ':INKR:2' , type = 'd') # move relative distance (positive means towards R2) [mm]
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idInkrRb = Channel(DEVICE + ':INKRRB:2' , type = 'd') # readback of move relative distance (positive means towards R2) [mm]
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idDiameter = Channel(DEVICE + ':DIAM:2' , type = 'd') # collimator diameter [mm]
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idCom = Channel(DEVICE + ':COM:2' , type = 'd') # current position as from motor step counter [mm]
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idCom = Channel(DEVICE + ':COM:2' , type = 'd') # motor commands [0=Stop; 1=Calibrate; 2=gotoR1; 3=gotoR2]
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idMotorPosition = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
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idPotiPosFromBeam = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
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idPotiPosition = Channel(DEVICE + ':IST2:1' , type = 'd') # current position as from potentiometer [mm]
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@@ -23,8 +23,8 @@ def startTest(testName, DEVICE, params):
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try:
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test.log("Running test Motor Test 3 with the following parameters:")
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test.log(params)
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loopTimes = int(test.getParam("repeatTimes"))
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direction = int(test.getParam("translation"))
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loopTimes = int(test.getParam("repeatTimes")) # C times
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translation = int(test.getParam("translation")) # Increment mm
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samplePeriod = 0.2 #seconds
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except:
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test.log("Could not retrieve testing parameters: ", sys.exc_info()[0])
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@@ -33,66 +33,81 @@ def startTest(testName, DEVICE, params):
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test.sendFeedback(ret, success)
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return
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scan = ManualScan(['time [1/'+ str(1/samplePeriod) + ' s]'], ['Motor Pos (IST3:2)', 'Poti Position (IST2:1)',
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'Motor Status (STA:1)', 'Inkr (INKR:2)', 'InkrRb (INKRRB:2)',
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'Diameter (DIAM:2)', 'Logical Position (IST:2)',
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'Motor Pos Raw (IST3:1)','Poti Pos From Beam (IST1:2)',
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'Poti Raw (POSA:1)', 'Poti Ref1 Position (REF1:1)', 'Poti Ref2 Position (REF2:1)'])
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scan = ManualScan(['traslation'], [
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'Btvs Poti Position (IST3:2)',
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'Mcs Poti Position (IST2:1)',
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'Motor Status (STA:1)',
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'Inkr (INKR:2)',
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'InkrRb (INKRRB:2)',
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'Diameter (DIAM:2)',
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'Logical Position (IST:2)',
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'Btvs Raw (IST3:1)',
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'Motor Position (IST1:2)',
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'Poti Raw (POSA:1)',
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'Poti Ref1 Position (REF1:1)',
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'Poti Ref2 Position (REF2:1)'])
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scan.setPlotName(plotName)
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scan.start()
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p1 = plot(None, name = "Poti Pos From Beam - Motor Position", context = plotName + " pos difference")[0]
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# Creating channels: dimension 1
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p1 = plot(None, name = "Motor Position - Btvs Poti Position", context = plotName + " Motor-Poti difference")[0]
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# Creating channels
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try:
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idMotorStatus = Channel(DEVICE + ':STA:1' , type = 'd') # DSP device_status reg
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idLogicalPosition = Channel(DEVICE + ':IST:2' , type = 'd') # Shows current position in logical units as calculated from motor step counter [1..n]
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idPotiRaw = Channel(DEVICE + ':POSA:1' , type = 'd') # poti raw data [ADC units]
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idMotorPositionRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
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idMotorStatus = Channel(DEVICE + ':STA:1' , type = 'd') # DSP device_status reg
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idLogicalPosition = Channel(DEVICE + ':IST:2' , type = 'd') # Shows current position in logical units as calculated from motor step counter [1..n]
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idPotiRaw = Channel(DEVICE + ':POSA:1' , type = 'd') # poti raw data [ADC units]
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idBtvsRaw = Channel(DEVICE + ':IST3:1' , type = 'd') # shows current position in steps as as obtained from motor step counter [steps]
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idInkr = Channel(DEVICE + ':INKR:2' , type = 'd') # move relative distance (positive means towards R2) [mm]
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idInkrRb = Channel(DEVICE + ':INKRRB:2' , type = 'd') # readback of move relative distance (positive means towards R2) [mm]
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idDiameter = Channel(DEVICE + ':DIAM:2' , type = 'd') # collimator diameter [mm]
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idMotorPosition = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
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idPotiPosFromBeam = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
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idBtvs = Channel(DEVICE + ':IST3:2' , type = 'd') # current position as from motor step counter [mm]
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idMotorPosition = Channel(DEVICE + ':IST1:2' , type = 'd') # current position from beam as from potentiometer [mm]
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idPotiPosition = Channel(DEVICE + ':IST2:1' , type = 'd') # current position as from potentiometer [mm]
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idPotiRef1Position = Channel(DEVICE + ':REF1:1' , type = 'd') # R1 position as from potentiometer [mm]
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idPotiRef2Position = Channel(DEVICE + ':REF2:1' , type = 'd') # R2 position as from potentiometer [mm]
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idCom = Channel(DEVICE + ':COM:2' , type = 'd') # motor commands [0=Stop; 1=Calibrate; 2=gotoR1; 3=gotoR2]
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except:
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ret = 'Unable to create channel - ' + traceback.format_exc()
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success = False
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test.sendFeedback( ret, success)
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return
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#remove limits
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#idLimitH.put(999999.9, timeout=None)
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#idLimitL.put(-999999.9, timeout=None)
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if direction == 0.0 :
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direction = 1.0
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startDefault = -100.0
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endDefault = 1000.0
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end = endDefault
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#find position at Low end switch: it will be the starting point of the test
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#go to position at Low end switch: it will be the starting point of the test
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test.log('Homing')
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idInkr.put(-100.0, timeout=10) # TODO: Set appropriate timeout
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start = idInkr.get()+direction
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idCom.put(2, timeout=10) # go to R1
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# wait for motor to get to Ref1
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for setpoint1 in range(0, 100):
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sleep( 2 ) # Settling time
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MotorStatus = idMotorStatus.get()
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if bool(int(MotorStatus) & 4): # arrived at Ref1 (low limit)
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break
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if not bool(int(MotorStatus) & 4): # not arrived at Ref1 (low limit)
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ret = 'Could not reach Ref1'
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success = False
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test.sendFeedback( ret, success)
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return
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direction = 1.0
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countSteps = 0
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test.log('Starting testing sequence')
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count = 0
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for setpoint1 in range(0, (loopTimes*2)):
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count = count + 1
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sleep( 2 ) # Settling time
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# add multi cuve plot
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p1.addSeries(LinePlotSeries("Run"+str(count)))
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#go to an end reference
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for setpoint2 in frange(start, end, direction):
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idInkr.put(setpoint2, timeout=10) # TODO: Set appropriate timeout
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for setpoint2 in frange(0, 1000000):
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idInkr.put(translation*direction, timeout=10)
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sleep(samplePeriod) # Settling time
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readback2 = idInkr.get()
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MotorStatus = idMotorStatus.get()
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LogicalPosition = idLogicalPosition.get()
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PotiRaw = idPotiRaw.get()
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MotorPositionRaw = idMotorPositionRaw.get()
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BtvsRaw = idBtvsRaw.get()
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Btvs = idBtvs.get()
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MotorPosition = idMotorPosition.get()
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PotiPosFromBeam = idPotiPosFromBeam.get()
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PotiPosition = idPotiPosition.get()
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PotiRef1Position = idPotiRef1Position.get()
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PotiRef2Position = idPotiRef2Position.get()
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@@ -100,11 +115,24 @@ def startTest(testName, DEVICE, params):
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Inkr = idInkr.get()
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InkrRb = idInkrRb.get()
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idDiff01 = PotiPosition-MotorPosition
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countSteps = countSteps + 1
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scan.append([setpoint2], [setpoint2],
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[MotorPosition, PotiPosition, MotorStatus, Inkr, InkrRb, Diameter, LogicalPosition,
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MotorPositionRaw, PotiPosFromBeam, PotiRaw, PotiRef1Position, PotiRef2Position])
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idDiff01 = MotorPosition-Btvs
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countSteps = countSteps + (translation*direction)
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# multi plot
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scan.append([countSteps], [countSteps],[
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Btvs,
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PotiPosition,
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MotorStatus,
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Inkr,
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InkrRb,
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Diameter,
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LogicalPosition,
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BtvsRaw,
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MotorPosition,
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PotiRaw,
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PotiRef1Position,
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PotiRef2Position])
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# draw curve to multi curve plot
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p1.getSeries(count).appendData(setpoint2, idDiff01)
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#extract Status bits
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@@ -114,15 +142,11 @@ def startTest(testName, DEVICE, params):
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#check if arrived to R1 or R2
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if endH:
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#invert direction and swap start with end of translation
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end = startDefault
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start = readback2 - (10.0*direction)
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direction = -1.0
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test.log('Reached R2 switch, changing target to R1')
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break
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elif endL:
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#invert direction and swap start with end of translation
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end = endDefault
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start = readback2 - (10.0*direction)
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direction = 1.0
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test.log('Reached R1 switch, changing target to R2')
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break
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@@ -157,15 +181,16 @@ def startTest(testName, DEVICE, params):
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idMotorStatus.close()
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idLogicalPosition.close()
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idPotiRaw.close()
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idMotorPositionRaw.close()
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idBtvsRaw.close()
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idBtvs.close()
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idMotorPosition.close()
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idPotiPosFromBeam.close()
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idPotiPosition.close()
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idPotiRef1Position.close()
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idPotiRef2Position.close()
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idDiameter.close()
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idInkr.close()
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idInkrRb.close()
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idCom.close()
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scan.end()
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ret = 'Slide moved back and forth (' + str(count) + ' runs)'
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