adding Q1 for triggering status

python/MXTuning.py

@@ -289,6 +289,75 @@ class MXTuning(Tuning):
 EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
       return (hdr,prog)
 
+    def check_fast_stage(self,file='/tmp/gather.npz'):
+      if os.path.isfile(file):
+        f=np.load(file)
+        data=f['data']
+        meta=f['meta'].item()
+        meta['file']=file
+      else:
+        #self.init_stage();time sleep
+        phase=False
+        motor=2
+        gpascii = self.comm.gpascii
+        gt = self.gather
+        gt.set_phasemode(phase)
+        address=('Motor[2].ActPos','Motor[8].ActPos')
+        gt.set_address(*address)
+        gt.set_property(Period=1)
+
+        tSrv=gpascii.servo_period
+        tSrv=2E-4  # seconds
+        phOsv = gpascii.get_variable('sys.PhaseOverServoPeriod', float)
+
+        subs={'prgId':999,'mot':motor,'num':100,'phase':'Phase' if phase else ''}
+
+        #the servoloop is called 2 times per servo cycle ?!?
+        #don't know why, but this is the reason why the value L10 is incremented by 0.5
+        prog = '''
+        &1
+        open prog {prgId}
+        P1=Motor[{mot}].DesPos-Motor[{mot}].HomePos
+        Q2=10
+        Gather.{phase}Enable=2
+        Q1={num}
+        while (Q1>0)
+        {{
+          jog{mot}=(P1-1000)
+          dwell 10
+          jog{mot}=(P1)
+          dwell 10
+          Q1=Q1-1
+        }}
+        dwell 10
+        Gather.{phase}Enable=0
+        close
+        &1
+        b{prgId}r
+        '''.format(**subs)
+
+        gpascii.send_line(prog)
+        res=gpascii.sync()
+        res=res.replace(GpasciiChannel.ACK+'\r\n','')
+        print(res)
+        t=time.time()
+        gt.wait_stopped()
+        print('time %f'%(time.time()-t))
+        self.data=data=gt.upload()
+        meta={'motor':motor,'date':time.asctime(),'ts':tSrv if not phase else tSrv*phOsv,'address':address}
+        np.savez_compressed(file, data=data, meta=meta)
+        meta['file'] = file
+      tSrv=meta['ts']
+      t=tSrv*np.arange(data.shape[0])
+      data=data-data[0,:]
+      plt.plot(t,data[:,0],t,data[:,1])
+      plt.figure()
+      plt.plot(t,data[:,0]-data[:,1])
+      plt.show()
+
+
+
+
 def bode(mdl):
   w,mag,phase = signal.bode(mdl,1000)
   f=w/(2*np.pi)
@@ -337,7 +406,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
 
     #plt.ion()
     #args.host='MOTTEST-CPPM-CRM0573'
-    args.host=None
+    #args.host=None
     if args.host is None:
       comm=gt=None
     else:
@@ -490,7 +559,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
         fn=os.path.join(base, 'scratch_%d.npz' % mot)
         if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
         tune.custom_chirp(motor=mot,minFrq=1,maxFrq=20,amp=200,tSec=15,mode=2,file=fn)
-
+    elif mode==10:  # record stage x and probe encoder
+      tune.check_fast_stage()
     print('done')
     plt.show()
   #------------------ Main Code ----------------------------------