50 lines
1.4 KiB
Python
50 lines
1.4 KiB
Python
_hex_baseplate_thickness=20.0
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# ----------------------------------------------------------------------
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def hex_show_pivot_point():
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x = caget("X04SA-ES3-HXP:RBPIVOT_X")
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y = caget("X04SA-ES3-HXP:RBPIVOT_Y")
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z = caget("X04SA-ES3-HXP:RBPIVOT_Z")
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z = z - _hex_baseplate_thickness
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print("pivot point xyz = (%.4f, %.4f, %.4f) mm relative to center of Hexapod top plate surface\n" % (x,y,z))
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# ----------------------------------------------------------------------
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def hex_set_pivot_point(x, y, z):
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# check if the dial values of the rotations are zero
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if (hrox.read() != 0.0) or (hroy.read() != 0.0) or (hroz.read() != 0.0) :
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print("The dial positions of the Hexapod rotations hrox, hroy and hroz have")
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print("to be at their zero position to set the pivot point.")
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return
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z = z + _hex_baseplate_thickness
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caput("X04SA-ES3-HXP:PIVOT_X", x)
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caput("X04SA-ES3-HXP:PIVOT_Y", y)
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caput("X04SA-ES3-HXP:PIVOT_Z", z)
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"""
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def hex_ini():
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print ("Initialiaze Hexapod C-887 through EPICS\n")
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home hx
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waitmove
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# ----------------------------------------------------------------------
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def hex_show_all '{
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printf("PI C-887 Hexapod:\n")
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hex_show_pivot_point
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printf("\n")
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wm hx hy hz hrox hroy hroz
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}'
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#---------------------------------------------------------------------
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# Oveloading of function
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def hexaShow '{
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hex_show_all
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}'
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""" |