stating position on first well instead X=-1,Y=-1 and do not wait

python/shapepath.py

@@ -757,8 +757,7 @@ class ShapePath(MotionBase):
               sdelay: (o) section shots count delay. Default is ssz[0]*ssz[1]. A the point will be reached after sdelay shots in the next loop
               tmove:  (m) time(in num of shots) to move to the next well
               twait:  (m) time(in num of shots) to wait at the well
-                          if twait=0, the motion will will not stop but continue motion (as mode 4 or 6)
-              seccnt: (o) number of timmes a section motion is done (default=2)
+              (tmove+twait will be rounded to a multiple of fel_per)
     '''
     if mode not in (1,3,4,5,6,7): #### pvt motion
       raise ValueError(f'unsupported mode:{mode}')
@@ -856,8 +855,8 @@ class ShapePath(MotionBase):
         ox, oy=(0,0)
         px, py=(1,1)
         self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A  # pt*trf
-      #prg+=f'  linear abs\n  X{ox:g} Y{oy:g}\n'
-      prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
+      #prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
+      prg+=f'  linear abs\n  X{ox:0} Y{oy:0}\n'  # start with no motion first well
     else: #mode in (6,7):  #### pvt motion, hit and return using grid parameters
       g=kwargs['grid']
       nx,ny=g['count']      #total count of wells
@@ -886,8 +885,10 @@ class ShapePath(MotionBase):
       except KeyError as e:
         tsd=sx*sy
       tsd+=1-sx*sy # sdl are shots to wait at position #(6)
-      prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
-    prg+='  dwell 10\n'
+      #prg+=f'  linear abs\n  X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid with motion
+      prg+=f'  linear abs\n  X{ox:0} Y{oy:0}\n'  # start with no motion first well
+    #prg+='  dwell 10\n' # wait on first well
+    prg+='  dwell 0\n' # do not wait on first well
     try: prg+=self.sync_prg
     except AttributeError:
       #print('no sync code available')