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gac-x04sa
2018-01-25 11:37:15 +01:00
parent f02602c3f1
commit bd2f2e9938
1 changed files with 43 additions and 18 deletions
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script/scans/SampleSearch.py
+43 -18
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@@ -11,7 +11,7 @@ Y_MAX = scy.maxValue / 2
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
@@ -19,6 +19,13 @@ sensor = scd_sim if SIMULATION else scd
X_MIN, X_MAX, Y_MIN, Y_MAX = float(X_MIN), float(X_MAX), float(Y_MIN), float(Y_MAX)
def plot_fit(normalization, mean_val, sigma, xdata):
gaussian = mathutils.Gaussian(normalization, mean_val, sigma)
plotutils.plot_function(get_plots(None)[0], gaussian, "Fit", xdata)
scr.move(OMEGA_START)
step=0
for y in frange(Y_MIN, Y_MAX, y_step):
scy.move(y)
@@ -26,18 +33,11 @@ for y in frange(Y_MIN, Y_MAX, y_step):
r = cscan(scx, sensor, scan_range[0], scan_range[1], SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
try:
xdata = enforce_monotonic(r.getPositions(0))
ydata = r.getReadable(0)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_val, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
if (normalization-offset) < offset * 1.20:
if ((normalization-offset) < offset * 1.20) or (sigma > 0.5):
raise Exception("Invalid x fit")
if sigma > 0.5:
raise Exception("Invalid x fit")
#Plotting the gaussian
gaussian = mathutils.Gaussian(normalization, mean_val, sigma)
plotutils.plot_function(get_plots(None)[0], gaussian, "Fit", xdata)
plot_fit(normalization, mean_val, sigma, xdata)
print "Found x center at ", mean_val
scx.move(mean_val)
break
@@ -47,18 +47,43 @@ for y in frange(Y_MIN, Y_MAX, y_step):
step += 1
r = cscan(scy, sensor, y-MAX_SAMPLE_SIZE/2, Y_MAX+MAX_SAMPLE_SIZE/2, SCAN_RESOLUTION, latency = DIODE_SETTLING_TIME)
xdata = enforce_monotonic(r.getPositions(0))
ydata = r.getReadable(0)
xdata,ydata = enforce_monotonic(r.getPositions(0)), r.getReadable(0)
(offset, normalization, mean_val, sigma) = mathutils.fit_gaussian_offset(ydata, xdata)
if (normalization-offset) < offset * 1.20:
raise Exception("Invalid y fit")
if sigma > 0.5:
raise Exception("Invalid y fit")
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)
print "Success finding center at x=", scx.read(), " y=", scy.read()
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)
print "Centering successfull"