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@@ -30,16 +30,23 @@ class HitReturnEval:
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h3=ax.plot(pts[:,0],pts[:,1],'g-')
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h2=ax.plot(pts[:,0],pts[:,1],'y-')
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h1=ax.plot(pts[:,0],pts[:,1],'r.')
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ha=ax.arrow(4, 2, 0.5, 0.5, head_width=0.05, head_length=0.1, fc='k', ec='k')
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#cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
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#fig.obj=self
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plt.axis('equal')
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plt.ion()
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fig.show()
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self._plt=(fig,ax,h1[0],h2[0])
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self._plt=[fig,ax,h1[0],h2[0],ha]
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def updatePlt(self,pts):
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fig, ax, h1, h2=self._plt
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def updatePlt(self,pts,vx,vy):
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fig,ax,h1,h2,ha=self._plt
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x,y=pts[-1][:2]
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pts=np.array(pts)
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ha.remove()
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l=(vx**2+vy**2)**.5
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ha=ax.arrow(x,y,.7*vx,.7*vy, head_width=.2, head_length=0.3*l, fc='k', ec='k',zorder=5)
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self._plt[-1]=ha
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h1.set_xdata((pts[:,0]))
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h1.set_ydata((pts[:,1]))
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h2.set_xdata((pts[:,0]))
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@@ -56,8 +63,10 @@ class HitReturnEval:
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g=kwargs['grid']
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ox,oy=g['pos'] #origin position in um (or counts if scaled)
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px,py=g['pitch'] #pitch to next position in um (or 1 if scaled)
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nx,ny=g['count'] #total count of wells
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sx,sy=kwargs['ssz'] #section size (in wells)
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nx,ny=g['count'] #total count of wells
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sx,sy=kwargs['ssz'] #section size (in wells)
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tx,ty=nx//sx,ny//sy #total sections
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#smv=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
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#swait=kwargs['smv'] #wait after <swait> section for motion trigger. swait=0:never wait
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@@ -72,45 +81,78 @@ class HitReturnEval:
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# | | | | | | | | | | | |
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# 1-2 1-2 1-2 1-2 1-2 1-2
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r=0 #row
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x0,y0,n=0,-1,0 # counter well in region
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k=-1 # key position
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cx,cy=0,0 # section counter
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x0,y0,n=0,0,0 # counter well in region
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dx,dy=0,1 # motion pitch
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x1,y1=0,0 #counter region start
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vsx=vsy=1 # scaled velocity
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vx,vy=0,vsy # scaled velocity
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mv=list()
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while(True):
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if cy%2==0: # even rows
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x=sx*cx+x0;y=sy*cy+y0
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else: # odd rows
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x=(tx-cx)*sx-x0-1;y=sy*cy+y0
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vx=-vx
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x0+=dx;y0+=dy
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print(f'{x0+x1} {y0+y1} ({dx}|{dy}|{n})')
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mv.append((x0+x1+.1*n,y0+y1+.1*n,n))
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self.updatePlt(mv)
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print(f'X{x}:{vx} Y{y}:{vy} ({k}|{dx}|{dy}|{n})')
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mv.append((x+.1*n,y+.1*n,n))
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self.updatePlt(mv,vx,vy)
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if k>=0: #if keypoint not directly followed by an other keypoint, define future velocity
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if k in (0,4):
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vx,vy=0,vsy
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elif k==2:
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vx,vy=0,-vsy
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elif k==5:
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vx,vy=-vsx,0
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elif k==6:
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n+=1
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elif k==7:
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print('next h section')
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cx+=1
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x0,y0,n,dx,dy=0,0,0,0,0
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elif k==8:
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print('next v section')
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cx=0;cy+=1
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x0,y0,n,dx,dy=0,0,0,0,0
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if cy>=ty:
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print('finished whole grid')
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break #
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else:
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raise ValueError('should never happened')
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print(f'vx|vy after keypoint {k}: ({vx}|{vy})')
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k=-1
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if y0==sy-1:
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if dy==1: #(1)
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dx,dy=1,0
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vx,vy=vsx/2,vsy/2
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else:
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dx,dy=0,-1#(2)
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elif y0==1 and x0<sx-1:
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k,dx,dy=2,0,-1#(2)
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vx,vy=vsx/2,-vsy/2
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elif y0==1 and x0>0 and x0<sx-1:
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if dy==-1: #(3)
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dx,dy=1,0
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vx,vy=vsx/2,-vsy/2
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else:
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dx,dy=0,1 #(4)
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k,dx,dy=4,0,1 #(4)
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vx,vy=vsx/2,vsy/2
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elif y0==0:
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if n==1 and x0==1: #(7 or 8)
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if r%2==0 and x1+2*sx<=nx:#(7 even)
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x1+=sx
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elif r%2==1 and x1>0:#(7 odd)
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x1-=sx
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elif y1+2*sy<=ny:#(8)
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y1+=sy;r+=1
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else:
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break #finished whole grid
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print('next regionA')
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x0,y0,n=0,0,0
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dx,dy=0,0
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if cx<tx-1:
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k,dx,dy=7,-1,0
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vx,vy=0,0
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else: #(8)
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k,dx,dy=8,sx-1,sy
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vx,vy=0,0
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elif x0==1: #(6)
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dx,dy=-1,0;n+=1
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k,dx,dy=6,-1,0
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vx,vy=-vsx,0
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elif x0==0: #(0)
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dx,dy=0,1
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else: #(5)
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dx,dy=-1,0
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k,dx,dy=0,0,1
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vx,vy=0,vsy
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elif x0==sx-1: #(5)
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k,dx,dy=5,-1,0
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vx,vy=-vsx/2,-vsy/2
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def plot_trajectory(self):
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pts = self.pts # X,Y array
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@@ -1040,27 +1040,27 @@ enable plc 2
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{t}=1 // motion pvt time scaling
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pvt{pt2pt_time} abs
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while(1){{
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{x0}+={dx};{y0}+={dy}
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//send 1"A:move(%d) X%g:%g Y%g:%g",{n},{ox}+{x0}+{x1}*{px},{dx},{oy}+{y0}+{y1}*{py},{dy}
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X({ox}+({x0}+{x1})*{px}):({vx}) Y({oy}+({y0}+{y1})*{py}):({vy})
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{x0}+={dx};{y0}+={dy}
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if ({t}!=1){{
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pvt{pt2pt_time} abs;{t}=1
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}}
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if ({y0}=={sy}-1){{
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if ({dy}==1){{ // (1)
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{dx}=1;{dy}=0
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{vx}={vsx};{vy}=0
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{vx}={vsx}/2;{vy}={vsy}/2
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}}else{{
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{dx}=0;{dy}=-1// (2)
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{vx}=0;{vy}=-{vsy}
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{vx}={vsx}/2;{vy}=-{vsy}/2
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}}
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}}else if ({y0}==1 && {x0}<{sx}-1){{
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if ({dy}==-1){{ // (3)
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{dx}=1;{dy}=0
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{vx}={vsx};{vy}=0
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{vx}={vsx}/2;{vy}=-{vsy}/2
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}}else{{
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{dx}=0;{dy}=1 // (4)
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{vx}=0;{vy}={vsy}
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{vx}={vsx}/2;{vy}={vsy}/2
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}}
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}}else if ({y0}==0){{
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if ({n}==1 && {x0}==1){{ // (7 or 8)
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@@ -1071,7 +1071,7 @@ enable plc 2
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}}
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else if ({r}%2==1 && {x1}>0){{ //(7 odd)
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{x1}-={sx}
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{vx}=-{vsx};{vy}=0
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{vx}=0;{vy}=0
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pvt{pt2pt_time*tmx} abs;{t}={tmx}
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}}
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else if ({y1}+2*{sy}<={ny}){{ //(8)
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@@ -1093,7 +1093,7 @@ enable plc 2
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{vx}=0;{vy}={vsy}
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}}else{{ // (5)
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{dx}=-1;{dy}=0
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{vx}=-{vsx};{vy}=0
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{vx}=-{vsx}/2;{vy}=-{vsy}/2
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}}
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}}
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}}
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@@ -1299,8 +1299,8 @@ if __name__=='__main__':
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elif mode==6:
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grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(16, 20)}
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# section size (in wells)
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ssz=(4, 5)
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#ssz=(6, 10)
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#ssz=(4, 5)
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ssz=(6, 10)
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#ssz=(2, 5)
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#sdelay=ssz[0]*ssz[1] # wait after <swait> section for motion trigger. swait=0:never wait
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sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=6,grid=grid,ssz=ssz)
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