pshell_config/x04sa-es2
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gac-x04sa
2018-01-25 12:47:27 +01:00
parent b0ab5848b6
commit 09537b00a1
4 changed files with 811 additions and 47 deletions
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script/scans/SampleSearch.py
+64 -47
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@@ -1,18 +1,20 @@
import mathutils
import plotutils
SIMULATION = True
X_MIN = scx.minValue / 2
X_MAX = scx.maxValue / 2
Y_MIN = scy.minValue / 2
Y_MAX = scy.maxValue / 2
if get_exec_pars().source == CommandSource.ui:
SIMULATION = True
X_MIN = scx.minValue / 2
X_MAX = scx.maxValue / 2
Y_MIN = scy.minValue / 2
Y_MAX = scy.maxValue / 2
MIN_SAMPLE_SIZE = 0.25
SCAN_RESOLUTION = 0.01
OMEGA_START = 57.0
Z_START = 0.0
MAX_SAMPLE_SIZE = 0.4
MIN_SAMPLE_SIZE = 0.25
SCAN_RESOLUTION = 0.01
OMEGA_START = 57.0
y_step = MIN_SAMPLE_SIZE * 0.5
sensor = scd_sim if SIMULATION else scd
@@ -25,64 +27,79 @@ def plot_fit(normalization, mean_val, sigma, xdata):
plotutils.plot_function(get_plots(None)[0], gaussian, "Fit", xdata)
scr.move(OMEGA_START)
scz.move(Z_START)
step=0
for y in frange(Y_MIN, Y_MAX, y_step):
scy.move(y)
scan_range = [X_MIN, X_MAX] if (step % 2==0) else [X_MAX, X_MIN]
scx.moveAsync(scan_range[0])
scy.move(y)
r = cscan(scx, sensor, scan_range[0], scan_range[1], SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
try:
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_val, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
(offset, normalization, mean_val_x, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit")
plot_fit(normalization, mean_val, sigma, xdata)
print "Found x center at ", mean_val
scx.move(mean_val)
plot_fit(normalization, mean_val_x, sigma, xdata)
print "Found x center at ", mean_val_x
scx.move(mean_val_x)
break
except:
print "Invalid x fit for y=", y, ": ", sys.exc_info()[0]
step += 1
r = cscan(scy, sensor, y-MAX_SAMPLE_SIZE/2, Y_MAX+MAX_SAMPLE_SIZE/2, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
r = cscan(scy, sensor, max(y-MAX_SAMPLE_SIZE/2, scy.minValue), min(Y_MAX+MAX_SAMPLE_SIZE/2, scy.maxValue), SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_val, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
try:
(offset, normalization, mean_val_y, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
except:
raise Exception ("Invalid y fit: ", sys.exc_info()[0])
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit")
plot_fit(normalization, mean_val, sigma, xdata)
print "Found y center at ", mean_val
scy.move(mean_val)
raise Exception("Invalid y fit")
plot_fit(normalization, mean_val_y, sigma, xdata)
print "Found y center at ", mean_val_y
scy.move(mean_val_y)
print "Success finding center at x=", scx.read(), " y=", scy.read()
print "Success finding center at x=", mean_val_x, " y=", mean_val_y
scr.move(OMEGA_START-15.0)
r = cscan(scx, sensor, X_MIN, X_MAX, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_minus_15, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit on z search -15deg")
plot_fit(normalization, mean_minus_15, sigma, xdata)
print "Found x center at -15deg at ", mean_minus_15
scr.move(OMEGA_START+15.0)
r = cscan(scx, sensor, X_MIN, X_MAX, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_plus_15, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit on z search +15deg")
plot_fit(normalization, mean_minus_15, sigma, xdata)
print "Found x center at +15deg at ", mean_plus_15
scr.move(OMEGA_START)
z_offset = 0.5 * (mean_minus_15 - mean_plus_15) / math.tan(math.radians(15.0))
print "Calculated z offset = ", z_offset
scz.moveRel(z_offset)
try:
scr.move(OMEGA_START-15.0)
r = cscan(scx, sensor, X_MIN, X_MAX, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
try:
(offset, normalization, mean_minus_15, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
except:
raise Exception ("Invalid x fit on z search -15deg: ", sys.exc_info()[0])
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit on z search -15deg")
plot_fit(normalization, mean_minus_15, sigma, xdata)
print "Found x center at -15deg at ", mean_minus_15
scr.move(OMEGA_START+15.0)
r = cscan(scx, sensor, X_MAX, X_MIN, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
try:
(offset, normalization, mean_plus_15, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
except:
raise Exception ("Invalid x fit on z search +15deg: ", sys.exc_info()[0])
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit on z search +15deg")
plot_fit(normalization, mean_minus_15, sigma, xdata)
print "Found x center at +15deg at ", mean_plus_15
scr.move(OMEGA_START)
z_offset = 0.5 * (mean_minus_15 - mean_plus_15) / math.tan(math.radians(15.0))
print "Calculated z offset = ", z_offset
scz.moveRel(z_offset)
finally:
scx.move(mean_val_x)
scy.move(mean_val_y)
print "Centering successfull"