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friction compensating user servo

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zamofing_t
2017-02-01 15:21:56 +01:00
parent c2910090f3
commit 3fafe53c39
14 changed files with 841 additions and 62 deletions
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27
logbook.md
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@@ -461,4 +461,29 @@ ic=-sin(phi-240deg)*iq
...cant yet figure out the scaling...
measure the mass of the stage... c ant figure it out...
Measuring position depenmdent friction(=current)
------------------------------------------------
./move_record.py cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
Avg current forward: 37.2596025196 Avg current backward: -68.9828819531
lut [[ 1.00000000e+03 -2.70746096e+01]
[ 1.31399384e+03 -3.76975094e+01]
[ 1.71398707e+03 -5.78253228e+01]
...
[ 2.57135808e+04 -1.09363816e+01]
[ 2.61135740e+04 -1.42231517e+01]
[ 2.65135673e+04 -1.19655511e+01]
[ 2.69135605e+04 -6.38521106e+01]]
Python to Matlab
----------------
import numpy as np, scipy.io
fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/prog_1.npz'
fh=np.load(fn)
scipy.io.savemat(fn[:-3]+'mat',mdict=dict(fh.iteritems()))