212 lines
8.7 KiB
Python
212 lines
8.7 KiB
Python
#Script Motor Test 2
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#Go to absolute position A, then move +B steps, then -2B steps, then +2Bsteps (ie oscillate round centre position, logging after each movement); repeat N times
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from startup import *
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from local import *
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import sys, inspect, os, traceback, time
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###### DO NOT MODIFY THE CODE BELOW ######
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def startTest(testName, DEVICE, params):
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#get the path of this script
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testPath = inspect.getfile(inspect.currentframe())
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#by default, failed
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ret = 'Test failed'
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status = False
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#plot name to be given to the scan. Use: scan.setPlotName(plotName)
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plotName = DEVICE + ' - ' + testName
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###### WRITE YOUR CODE HERE BELOW #######
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#get parameters from the calling interface
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try:
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print_log(testName, DEVICE, "Running test Motor Test 2 for device " + DEVICE + " with the following parameters:\n" + str(params))
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middle = 40.0 #float(params["midPoint"]["value"])
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loopTimes = 1 #int(params["repeatTimes"]["value"])
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span = 2 # float(params["spanFromMidPoint"]["value"])
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except:
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ret = 'Could not retrieve testing parameters - ' + traceback.format_exc()
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success = False
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sendFeedback(testPath, testName, DEVICE, ret, status)
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return
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#scan = ManualScan(['idX'], ['idMotorStatus', 'idLogicalPosition', 'idDiameter', 'idMotorPosition', 'idPotiRaw', 'idPotiProc', 'idBtvsRaw', 'idBtvsProc', 'idDiff01', 'idDiff02'] , [ 0.0], [ 3000.0], [20])
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scan = ManualScan(['idX'], ['idMotorStatus', 'idLogicalPosition', 'idDiameter', 'idMotorPosition', 'idPotiRaw', 'idPotiProc', 'idBtvsRaw', 'idBtvsProc', 'idDiff01', 'idDiff02'])
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scan.setPlotName(plotName)
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scan.start()
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#Creating channels: dimension 1
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try:
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#RegionPositioner idInkr
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#idInkr = Channel(DEVICE+':INKR:2', type = 'd')
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idInkr = Channel(DEVICE+':MOTOR.VAL', type = 'd')
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#ScalarDetector idMotorStatus
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#idMotorStatus = Channel(DEVICE+':STA:1', type = 'd')
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idMotorStatus = Channel(DEVICE+':MOTOR.MSTA', type = 'd')
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#ScalarDetector idLogicalPosition
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#idLogicalPosition = Channel(DEVICE+':IST:2', type = 'd')
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idLogicalPosition = Channel(DEVICE+':MOTOR.RVAL', type = 'd')
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#ScalarDetector idDiameter
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#idDiameter = Channel(DEVICE+':DIAM:2', type = 'd')
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idDiameter = Channel(DEVICE+':ENCODERoff', type = 'd')
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#ScalarDetector idMotorPosition
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#idMotorPosition = Channel(DEVICE+':IST1:2', type = 'd')
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idMotorPosition = Channel(DEVICE+':MOTOR.RBV', type = 'd')
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#ScalarDetector idPotiRaw
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#idPotiRaw = Channel(DEVICE+':POSA:1', type = 'd')
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idPotiRaw = Channel(DEVICE+':ENCODERraw', type = 'd')
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#ScalarDetector idPotiProc
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#idPotiProc = Channel(DEVICE+':POSA:2', type = 'd')
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idPotiProc = Channel(DEVICE+':ENCODER', type = 'd')
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#ScalarDetector idBtvsRaw
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#idBtvsRaw = Channel(DEVICE+':IST3:1', type = 'd')
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idBtvsRaw = Channel(DEVICE+':MOTOR.LLS', type = 'd')
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#ScalarDetector idBtvsProc
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#idBtvsProc = Channel(DEVICE+':IST3:2', type = 'd')
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idBtvsProc = Channel(DEVICE+':MOTOR.HLS', type = 'd')
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#ScalarDetector idEndSwitchL
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#idBtvsRaw = Channel(DEVICE+':IST3:1', type = 'd')
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idEndSwitchL = Channel(DEVICE+':MOTOR.LLS', type = 'd')
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#ScalarDetector idEndSwitchH
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#idBtvsProc = Channel(DEVICE+':IST3:2', type = 'd')
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idEndSwitchH = Channel(DEVICE+':MOTOR.HLS', type = 'd')
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#high position limit
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idLimitH = Channel(DEVICE+':MOTOR.HLM', type = 'd')
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#low position limit
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idLimitL = Channel(DEVICE+':MOTOR.LLM', type = 'd')
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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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sendFeedback(testPath, testName, DEVICE, ret, status)
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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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direction = 1.0
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startDefault = middle - span
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endDefault = middle + span
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end = endDefault+1
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#find position: it will be the middle point of the test
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print_log(testName, DEVICE, 'Moving to middle point ' + str(middle) )
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idInkr.put(middle, timeout=None) # TODO: Set appropriate timeout
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readback2 = idInkr.get()
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if abs(readback2 - middle) > 1 : # TODO: Check accuracy
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ret = 'Actor idInkr could not be set to the value ' + str(middle) + ' (current value: ' + str(readback2) + ')'
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success = False
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sendFeedback(testPath, testName, DEVICE, ret, status)
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return
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start = readback2+direction
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countSteps = 0
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count = 0
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print_log(testName, DEVICE, 'Moving around middle point (+-' + str(span) + ')' )
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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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#RegionPositioner idInkr
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for setpoint2 in frange(start, end, direction):
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readback1 = setpoint1
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idInkr.put(setpoint2, timeout=None) # TODO: Set appropriate timeout
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sleep( 0.2 ) # Settling time
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readback2 = idInkr.get()
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if abs(readback2 - setpoint2) > 1 : # TODO: Check accuracy
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ret = 'Actor idInkr could not be set to the value ' + str(setpoint2) + ' (current value: ' + str(readback2) + ')'
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success = False
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sendFeedback(testPath, testName, DEVICE, ret, status)
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return
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#Detector idMotorStatus
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detector1 = idMotorStatus.get()
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#Detector idLogicalPosition
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detector2 = idLogicalPosition.get()
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#Detector idDiameter
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detector3 = idDiameter.get()
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#Detector idMotorPosition
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detector4 = idMotorPosition.get()
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#Detector idPotiRaw
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detector5 = idPotiRaw.get()
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#Detector idPotiProc
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detector6 = idPotiProc.get()
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#Detector idBtvsRaw
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detector7 = idBtvsRaw.get()
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#Detector idBtvsProc
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detector8 = idBtvsProc.get()
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#end switches
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endH = idEndSwitchH.get()
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endL = idEndSwitchL.get()
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#Manipulation idDiff02
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#Variable Mappings
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a = detector4
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b = detector8
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idDiff02 = a-b
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#Manipulation idDiff01
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#Variable Mappings
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a = detector4
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b = detector6
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idDiff01 = a-b
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countSteps = countSteps + 1
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scan.append ([countSteps], [countSteps], [detector1, detector2, detector3, detector4, detector5, detector6, detector7, detector8, idDiff02, idDiff01])
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if endH>0.0 or (direction > 0.0 and setpoint2 >= end -1):
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#invert direction and swap start with end of translation
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end = startDefault-1
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start = setpoint2 - direction
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direction = -1.0
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print_log(testName, DEVICE, 'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
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break
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if endL>0.0 or ( direction < 0.0 and setpoint2 <= end +1):
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#invert direction and swap start with end of translation
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end = endDefault+1
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start = setpoint2 - direction
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direction = 1.0
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print_log(testName, DEVICE, 'End of span (' + str(setpoint2) + '), changing direction to ' + str(direction) )
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break
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#set limits back
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idLimitH.put(145.0, timeout=None)
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idLimitL.put(0.0, timeout=None)
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#Closing channels
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idInkr.close()
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idMotorStatus.close()
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idLogicalPosition.close()
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idDiameter.close()
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idMotorPosition.close()
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idPotiRaw.close()
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idPotiProc.close()
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idBtvsRaw.close()
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idBtvsProc.close()
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scan.end()
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ret = 'Slide moved back and forth (' + str(count) + ' runs)'
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status = True
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########## END OF YOUR CODE ###########
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###### DO NOT MODIFY THE CODE BELOW ######
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sendFeedback(testPath, testName, DEVICE, ret, status)
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#prepare and send feedback to calling tool
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def sendFeedback(testPath, testName, DEVICE, returnString, testPassed):
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print_log(testName, DEVICE, 'End of test. Result:')
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print_log(testName, DEVICE, 'Test path: ' + testPath)
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print_log(testName, DEVICE, 'Test name: ' + testName)
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print_log(testName, DEVICE, 'Device: ' + DEVICE)
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print_log(testName, DEVICE, 'Test passed: ' + str(testPassed))
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print_log(testName, DEVICE, 'Return string: ' + returnString)
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ret = [testPath, DEVICE, returnString, testPassed]
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set_return(ret)
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def print_log(testName, DEVICE, text):
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time.ctime()
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now = time.strftime('%Y.%m.%d %H:%M:%S')
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print now + ' ' + DEVICE + ' - ' + testName + ': ' + text
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#get test arguments
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#DEVICE = device
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#parameters={}#REMOVE
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#launch the test
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#startTest(test, device, parameters)
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