wip(0)

hit_return.svg

@@ -19,6 +19,51 @@
    sodipodi:docname="hit_return.svg">
   <defs
      id="defs2">
+    <marker
+       inkscape:stockid="DotM"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker16918"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         inkscape:connector-curvature="0"
+         id="path16916"
+         d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z"
+         style="fill:#0000f0;fill-opacity:1;fill-rule:evenodd;stroke:#0000f0;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.4,0,0,0.4,2.96,0.4)" />
+    </marker>
+    <marker
+       inkscape:stockid="DotM"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker16553"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         inkscape:connector-curvature="0"
+         id="path16551"
+         d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z"
+         style="fill:#0000f0;fill-opacity:1;fill-rule:evenodd;stroke:#0000f0;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.4,0,0,0.4,2.96,0.4)" />
+    </marker>
+    <marker
+       inkscape:stockid="DotM"
+       orient="auto"
+       refY="0"
+       refX="0"
+       id="marker16188"
+       style="overflow:visible"
+       inkscape:isstock="true">
+      <path
+         inkscape:connector-curvature="0"
+         id="path16186"
+         d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z"
+         style="fill:#0000f0;fill-opacity:1;fill-rule:evenodd;stroke:#0000f0;stroke-width:1.00000003pt;stroke-opacity:1"
+         transform="matrix(0.4,0,0,0.4,2.96,0.4)" />
+    </marker>
     <marker
        inkscape:stockid="DotM"
        orient="auto"
@@ -335,36 +380,6 @@
          transform="scale(0.6)"
          inkscape:connector-curvature="0" />
     </marker>
-    <marker
-       inkscape:stockid="DotM"
-       orient="auto"
-       refY="0"
-       refX="0"
-       id="marker26094-3"
-       style="overflow:visible"
-       inkscape:isstock="true">
-      <path
-         inkscape:connector-curvature="0"
-         id="path26092-6"
-         d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z"
-         style="fill:#0000f0;fill-opacity:1;fill-rule:evenodd;stroke:#0000f0;stroke-width:1.00000003pt;stroke-opacity:1"
-         transform="matrix(0.4,0,0,0.4,2.96,0.4)" />
-    </marker>
-    <marker
-       inkscape:stockid="DotM"
-       orient="auto"
-       refY="0"
-       refX="0"
-       id="marker24477-7"
-       style="overflow:visible"
-       inkscape:isstock="true">
-      <path
-         inkscape:connector-curvature="0"
-         id="path24475-5"
-         d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z"
-         style="fill:#0000f0;fill-opacity:1;fill-rule:evenodd;stroke:#0000f0;stroke-width:1.00000003pt;stroke-opacity:1"
-         transform="matrix(0.4,0,0,0.4,2.96,0.4)" />
-    </marker>
     <marker
        inkscape:stockid="DotM"
        orient="auto"
@@ -2638,9 +2653,9 @@
      borderopacity="1.0"
      inkscape:pageopacity="0.0"
      inkscape:pageshadow="2"
-     inkscape:zoom="1.2825602"
+     inkscape:zoom="0.89115389"
-     inkscape:cx="793.35599"
+     inkscape:cx="764.09414"
-     inkscape:cy="514.79606"
+     inkscape:cy="555.17256"
      inkscape:document-units="px"
      inkscape:current-layer="g4477"
      showgrid="true"
@@ -2874,32 +2889,12 @@
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cccccccccc" />
         <path
-           style="fill:none;stroke:#0000f0;stroke-width:0.13229166;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker26094-3);marker-mid:url(#marker24477-7);marker-end:url(#marker26094-3)"
+           style="fill:none;stroke:#0000f0;stroke-width:0.13229166;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1;marker-start:url(#marker16188);marker-mid:url(#marker16553);marker-end:url(#marker16918)"
            d="m 16.447285,200.23657 v 15.875 h 2.645834 V 202.8824 h 2.645833 v 13.22917 h 2.645833 v -15.875 h -5.291666"
            id="path140022"
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="ccccccccc" />
       </g>
-      <use
-         x="0"
-         y="0"
-         xlink:href="#use140004"
-         id="use140006"
-         width="100%"
-         height="100%"
-         transform="translate(199.99999,349.99998)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
-      <use
-         x="0"
-         y="0"
-         xlink:href="#use140006"
-         id="use140008"
-         width="100%"
-         height="100%"
-         transform="translate(-199.99999,-4.5884843e-6)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
       <use
          x="0"
          y="0"
@@ -2920,16 +2915,6 @@
          transform="translate(-200,-4.5884843e-6)"
          inkscape:export-xdpi="600"
          inkscape:export-ydpi="600" />
-      <use
-         x="0"
-         y="0"
-         xlink:href="#use140004"
-         id="use155046"
-         width="100%"
-         height="100%"
-         transform="translate(400,349.99998)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
       <path
          style="fill:none;stroke:#00c800;stroke-width:4.99999952px;stroke-linecap:round;stroke-linejoin:miter;stroke-opacity:1"
          d="m 188.0827,-347.70107 c 50.00001,-39.99988 100,-34.99994 140,-9.99988"
@@ -2938,13 +2923,6 @@
          sodipodi:nodetypes="cc"
          inkscape:export-xdpi="600"
          inkscape:export-ydpi="600" />
-      <path
-         style="fill:none;stroke:#00c800;stroke-width:4.99999952px;stroke-linecap:round;stroke-linejoin:miter;stroke-opacity:1"
-         d="M 588.08269,-347.70107 128.0827,-7.7008472"
-         id="path193463"
-         inkscape:connector-curvature="0"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
       <text
          xml:space="preserve"
          style="font-style:normal;font-weight:normal;font-size:39.99999619px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:4.99999952"
@@ -3078,15 +3056,15 @@
       <text
          xml:space="preserve"
          style="font-style:normal;font-weight:normal;font-size:39.99999619px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:4.99999952"
-         x="349.98798"
+         x="649.59955"
-         y="-186.48172"
+         y="-143.84038"
          id="text193546"
          inkscape:export-xdpi="600"
          inkscape:export-ydpi="600"><tspan
            sodipodi:role="line"
            id="tspan193544"
-           x="349.98798"
+           x="649.59955"
-           y="-186.48172"
+           y="-143.84038"
            style="font-size:26.66666412px;fill:#008c00;fill-opacity:1;stroke-width:4.99999952">8</tspan></text>
       <g
          style="display:inline"
@@ -3283,28 +3261,6 @@
            inkscape:connector-curvature="0"
            sodipodi:nodetypes="cccc" />
       </g>
-      <use
-         x="0"
-         y="0"
-         xlink:href="#use140004-3"
-         id="use140006-0"
-         width="100%"
-         height="100%"
-         transform="translate(100.593,350.00005)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600"
-         style="display:inline;fill:#6e2265;fill-opacity:0.15174267" />
-      <use
-         style="display:inline"
-         x="0"
-         y="0"
-         xlink:href="#use140006-0"
-         id="use140008-4"
-         width="100%"
-         height="100%"
-         transform="translate(-100.59303,-6.6428745e-5)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
       <use
          style="display:inline"
          x="0"
@@ -3327,25 +3283,6 @@
          transform="translate(-99.999992,-6.4287452e-6)"
          inkscape:export-xdpi="600"
          inkscape:export-ydpi="600" />
-      <use
-         style="display:inline"
-         x="0"
-         y="0"
-         xlink:href="#use140004-3"
-         id="use155046-8"
-         width="100%"
-         height="100%"
-         transform="translate(400,349.99995)"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600" />
-      <path
-         style="display:inline;fill:none;stroke:#00c800;stroke-width:4.99999952px;stroke-linecap:round;stroke-linejoin:miter;stroke-opacity:1"
-         d="M 1538.6757,-347.70095 978.0827,-7.7008272"
-         id="path193463-9"
-         inkscape:connector-curvature="0"
-         inkscape:export-xdpi="600"
-         inkscape:export-ydpi="600"
-         sodipodi:nodetypes="cc" />
       <text
          xml:space="preserve"
          style="font-style:normal;font-weight:normal;font-size:39.99999619px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;display:inline;fill:#000000;fill-opacity:1;stroke:none;stroke-width:4.99999952"
@@ -3435,15 +3372,15 @@
       <text
          xml:space="preserve"
          style="font-style:normal;font-weight:normal;font-size:39.99999619px;line-height:1.25;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;display:inline;fill:#000000;fill-opacity:1;stroke:none;stroke-width:4.99999952"
-         x="1249.9879"
+         x="1546.233"
-         y="-186.4817"
+         y="-101.19901"
          id="text193546-4"
          inkscape:export-xdpi="600"
          inkscape:export-ydpi="600"><tspan
            sodipodi:role="line"
            id="tspan193544-6"
-           x="1249.9879"
+           x="1546.233"
-           y="-186.4817"
+           y="-101.19901"
            style="font-size:26.66666412px;fill:#008c00;fill-opacity:1;stroke-width:4.99999952">8</tspan></text>
       <use
          style="display:inline"
@@ -3472,33 +3409,6 @@
          width="100%"
          height="100%"
          transform="translate(99.999998,-6.4287452e-6)" />
-      <use
-         style="display:inline"
-         x="0"
-         y="0"
-         xlink:href="#use140006-0"
-         id="use280309"
-         width="100%"
-         height="100%"
-         transform="translate(99.999998,-6.4287452e-6)" />
-      <use
-         style="display:inline"
-         x="0"
-         y="0"
-         xlink:href="#use280309"
-         id="use280311"
-         width="100%"
-         height="100%"
-         transform="translate(99.999998,-6.4287452e-6)" />
-      <use
-         style="display:inline"
-         x="0"
-         y="0"
-         xlink:href="#use155046-8"
-         id="use280313"
-         width="100%"
-         height="100%"
-         transform="translate(100.593,7.3571255e-5)" />
       <use
          x="0"
          y="0"
@@ -3507,22 +3417,56 @@
          width="100%"
          height="100%"
          transform="translate(200,1.11e-4)" />
+      <g
+         id="g16931"
+         transform="matrix(-1,0,0,1,816.16538,0)">
         <use
-         x="0"
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(199.99999,349.99998)"
+           height="100%"
+           width="100%"
+           id="use140006"
+           xlink:href="#use140004"
            y="0"
-         xlink:href="#use283629"
+           x="0" />
+        <use
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(-199.99999,-4.5884843e-6)"
+           height="100%"
+           width="100%"
+           id="use140008"
+           xlink:href="#use140006"
+           y="0"
+           x="0" />
+        <use
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(400,349.99998)"
+           height="100%"
+           width="100%"
+           id="use155046"
+           xlink:href="#use140004"
+           y="0"
+           x="0" />
+        <use
+           transform="translate(-200,350)"
+           height="100%"
+           width="100%"
            id="use283631"
-         width="100%"
+           xlink:href="#use283629"
-         height="100%"
-         transform="translate(-200,350)" />
-      <use
-         x="0"
            y="0"
-         xlink:href="#use283631"
+           x="0" />
-         id="use283633"
+        <use
-         width="100%"
+           transform="translate(200)"
            height="100%"
-         transform="translate(200)" />
+           width="100%"
+           id="use283633"
+           xlink:href="#use283631"
+           y="0"
+           x="0" />
+      </g>
       <use
          x="0"
          y="0"
@@ -3555,46 +3499,126 @@
          width="100%"
          height="100%"
          transform="translate(100)" />
+      <g
+         id="g18003"
+         transform="matrix(-1,0,0,1,2516.7582,0)">
         <use
-         x="0"
+           style="display:inline;fill:#6e2265;fill-opacity:0.15174267"
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(100.593,350.00005)"
+           height="100%"
+           width="100%"
+           id="use140006-0"
+           xlink:href="#use140004-3"
            y="0"
-         xlink:href="#use283688"
+           x="0" />
+        <use
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(-100.59303,-6.6428745e-5)"
+           height="100%"
+           width="100%"
+           id="use140008-4"
+           xlink:href="#use140006-0"
+           y="0"
+           x="0"
+           style="display:inline" />
+        <use
+           inkscape:export-ydpi="600"
+           inkscape:export-xdpi="600"
+           transform="translate(400,349.99995)"
+           height="100%"
+           width="100%"
+           id="use155046-8"
+           xlink:href="#use140004-3"
+           y="0"
+           x="0"
+           style="display:inline" />
+        <use
+           transform="translate(99.999998,-6.4287452e-6)"
+           height="100%"
+           width="100%"
+           id="use280309"
+           xlink:href="#use140006-0"
+           y="0"
+           x="0"
+           style="display:inline" />
+        <use
+           transform="translate(99.999998,-6.4287452e-6)"
+           height="100%"
+           width="100%"
+           id="use280311"
+           xlink:href="#use280309"
+           y="0"
+           x="0"
+           style="display:inline" />
+        <use
+           transform="translate(100.593,7.3571255e-5)"
+           height="100%"
+           width="100%"
+           id="use280313"
+           xlink:href="#use155046-8"
+           y="0"
+           x="0"
+           style="display:inline" />
+        <use
+           transform="translate(-400,350)"
+           height="100%"
+           width="100%"
            id="use283690"
-         width="100%"
+           xlink:href="#use283688"
-         height="100%"
-         transform="translate(-400,350)" />
-      <use
-         x="0"
            y="0"
-         xlink:href="#use283690"
+           x="0" />
+        <use
+           transform="translate(100)"
+           height="100%"
+           width="100%"
            id="use283692"
-         width="100%"
+           xlink:href="#use283690"
-         height="100%"
-         transform="translate(100)" />
-      <use
-         x="0"
            y="0"
-         xlink:href="#use283692"
+           x="0" />
+        <use
+           transform="translate(100)"
+           height="100%"
+           width="100%"
            id="use283694"
-         width="100%"
+           xlink:href="#use283692"
-         height="100%"
-         transform="translate(100)" />
-      <use
-         x="0"
            y="0"
-         xlink:href="#use283694"
+           x="0" />
+        <use
+           transform="translate(100)"
+           height="100%"
+           width="100%"
            id="use283696"
-         width="100%"
+           xlink:href="#use283694"
-         height="100%"
-         transform="translate(100)" />
-      <use
-         x="0"
            y="0"
-         xlink:href="#use283696"
+           x="0" />
-         id="use283698"
+        <use
-         width="100%"
+           transform="translate(100)"
            height="100%"
-         transform="translate(100)" />
+           width="100%"
+           id="use283698"
+           xlink:href="#use283696"
+           y="0"
+           x="0" />
+      </g>
+      <path
+         style="fill:none;stroke:#00c800;stroke-width:4.99999952px;stroke-linecap:round;stroke-linejoin:miter;stroke-opacity:1"
+         d="M 588.08269,-347.70107 688.0827,-7.700959"
+         id="path193463"
+         inkscape:connector-curvature="0"
+         inkscape:export-xdpi="600"
+         inkscape:export-ydpi="600"
+         sodipodi:nodetypes="cc" />
+      <path
+         style="display:inline;fill:none;stroke:#00c800;stroke-width:4.99999952px;stroke-linecap:round;stroke-linejoin:miter;stroke-opacity:1"
+         d="m 1538.6757,-347.70095 c 50.9795,292.297233 25.7644,318.145847 -0.593,339.999991"
+         id="path193463-9"
+         inkscape:connector-curvature="0"
+         inkscape:export-xdpi="600"
+         inkscape:export-ydpi="600"
+         sodipodi:nodetypes="cc" />
     </g>
   </g>
 </svg>

python/hit_return_evaluation.py

@@ -30,16 +30,23 @@ class HitReturnEval:
     h3=ax.plot(pts[:,0],pts[:,1],'g-')
     h2=ax.plot(pts[:,0],pts[:,1],'y-')
     h1=ax.plot(pts[:,0],pts[:,1],'r.')
+    ha=ax.arrow(4, 2, 0.5, 0.5, head_width=0.05, head_length=0.1, fc='k', ec='k')
+
     #cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
     #fig.obj=self
     plt.axis('equal')
     plt.ion()
     fig.show()
-    self._plt=(fig,ax,h1[0],h2[0])
+    self._plt=[fig,ax,h1[0],h2[0],ha]
 
-  def updatePlt(self,pts):
+  def updatePlt(self,pts,vx,vy):
-    fig, ax, h1, h2=self._plt
+    fig,ax,h1,h2,ha=self._plt
+    x,y=pts[-1][:2]
     pts=np.array(pts)
+    ha.remove()
+    l=(vx**2+vy**2)**.5
+    ha=ax.arrow(x,y,.7*vx,.7*vy, head_width=.2, head_length=0.3*l, fc='k', ec='k',zorder=5)
+    self._plt[-1]=ha
     h1.set_xdata((pts[:,0]))
     h1.set_ydata((pts[:,1]))
     h2.set_xdata((pts[:,0]))
@@ -58,6 +65,8 @@ class HitReturnEval:
     px,py=g['pitch']    #pitch to next position in um (or 1 if scaled)
     nx,ny=g['count']    #total count of wells
     sx,sy=kwargs['ssz'] #section size (in wells)
+    tx,ty=nx//sx,ny//sy #total sections
+
     #smv=kwargs['smv']    #time(in num of shots) to move to next section (horiz/vert)
     #swait=kwargs['smv']  #wait after <swait> section for motion trigger. swait=0:never wait
 
@@ -72,45 +81,78 @@ class HitReturnEval:
     #  | |     | | | |   | | | | | |
     #  1-2     1-2 1-2   1-2 1-2 1-2
 
-    r=0             #row
+    k=-1            # key position
-    x0,y0,n=0,-1,0  # counter well in region
+    cx,cy=0,0       # section counter
+    x0,y0,n=0,0,0   # counter well in region
     dx,dy=0,1       # motion pitch
-    x1,y1=0,0       #counter region start
+    vsx=vsy=1       # scaled velocity
+    vx,vy=0,vsy     # scaled velocity
     mv=list()
     while(True):
+      if cy%2==0: # even rows
+        x=sx*cx+x0;y=sy*cy+y0
+      else:       # odd rows
+        x=(tx-cx)*sx-x0-1;y=sy*cy+y0
+        vx=-vx
       x0+=dx;y0+=dy
-      print(f'{x0+x1} {y0+y1} ({dx}|{dy}|{n})')
+      print(f'X{x}:{vx} Y{y}:{vy} ({k}|{dx}|{dy}|{n})')
-      mv.append((x0+x1+.1*n,y0+y1+.1*n,n))
+      mv.append((x+.1*n,y+.1*n,n))
-      self.updatePlt(mv)
+      self.updatePlt(mv,vx,vy)
+      if k>=0: #if keypoint not directly followed by an other keypoint, define future velocity
+        if k in (0,4):
+          vx,vy=0,vsy
+        elif k==2:
+          vx,vy=0,-vsy
+        elif k==5:
+          vx,vy=-vsx,0
+        elif k==6:
+          n+=1
+        elif k==7:
+          print('next h section')
+          cx+=1
+          x0,y0,n,dx,dy=0,0,0,0,0
+        elif k==8:
+          print('next v section')
+          cx=0;cy+=1
+          x0,y0,n,dx,dy=0,0,0,0,0
+          if cy>=ty:
+            print('finished whole grid')
+            break #
+        else:
+          raise ValueError('should never happened')
+        print(f'vx|vy after keypoint {k}: ({vx}|{vy})')
+        k=-1
       if y0==sy-1:
         if dy==1:   #(1)
           dx,dy=1,0
+          vx,vy=vsx/2,vsy/2
         else:
-          dx,dy=0,-1#(2)
+          k,dx,dy=2,0,-1#(2)
-      elif y0==1 and x0<sx-1:
+          vx,vy=vsx/2,-vsy/2
+      elif y0==1 and x0>0 and x0<sx-1:
         if dy==-1:  #(3)
           dx,dy=1,0
+          vx,vy=vsx/2,-vsy/2
         else:
-          dx,dy=0,1 #(4)
+          k,dx,dy=4,0,1 #(4)
+          vx,vy=vsx/2,vsy/2
       elif y0==0:
         if n==1 and x0==1: #(7 or 8)
-          if r%2==0 and x1+2*sx<=nx:#(7 even)
+          if cx<tx-1:
-            x1+=sx
+            k,dx,dy=7,-1,0
-          elif r%2==1 and x1>0:#(7 odd)
+            vx,vy=0,0
-            x1-=sx
+          else: #(8)
-          elif y1+2*sy<=ny:#(8)
+            k,dx,dy=8,sx-1,sy
-            y1+=sy;r+=1
+            vx,vy=0,0
-          else:
-            break #finished whole grid
-          print('next regionA')
-          x0,y0,n=0,0,0
-          dx,dy=0,0
         elif x0==1: #(6)
-          dx,dy=-1,0;n+=1
+          k,dx,dy=6,-1,0
+          vx,vy=-vsx,0
         elif x0==0: #(0)
-          dx,dy=0,1
+          k,dx,dy=0,0,1
-        else: #(5)
+          vx,vy=0,vsy
-          dx,dy=-1,0
+        elif x0==sx-1: #(5)
+          k,dx,dy=5,-1,0
+          vx,vy=-vsx/2,-vsy/2
 
   def plot_trajectory(self):
     pts = self.pts  # X,Y array

python/shapepath.py

@@ -1040,27 +1040,27 @@ enable plc 2
   {t}=1                // motion pvt time scaling
   pvt{pt2pt_time} abs
   while(1){{
-    {x0}+={dx};{y0}+={dy}
     //send 1"A:move(%d) X%g:%g Y%g:%g",{n},{ox}+{x0}+{x1}*{px},{dx},{oy}+{y0}+{y1}*{py},{dy}
     X({ox}+({x0}+{x1})*{px}):({vx}) Y({oy}+({y0}+{y1})*{py}):({vy})
+    {x0}+={dx};{y0}+={dy}
     if ({t}!=1){{
       pvt{pt2pt_time} abs;{t}=1
     }}
     if ({y0}=={sy}-1){{
       if ({dy}==1){{   // (1)
         {dx}=1;{dy}=0
-        {vx}={vsx};{vy}=0
+        {vx}={vsx}/2;{vy}={vsy}/2
       }}else{{
         {dx}=0;{dy}=-1// (2)
-        {vx}=0;{vy}=-{vsy}
+        {vx}={vsx}/2;{vy}=-{vsy}/2
       }}
     }}else if ({y0}==1 && {x0}<{sx}-1){{
       if ({dy}==-1){{  // (3)
         {dx}=1;{dy}=0
-        {vx}={vsx};{vy}=0
+        {vx}={vsx}/2;{vy}=-{vsy}/2
       }}else{{
         {dx}=0;{dy}=1 // (4)
-        {vx}=0;{vy}={vsy}
+        {vx}={vsx}/2;{vy}={vsy}/2
       }}
     }}else if ({y0}==0){{
       if ({n}==1 && {x0}==1){{ // (7 or 8)
@@ -1071,7 +1071,7 @@ enable plc 2
         }}
         else if ({r}%2==1 && {x1}>0){{ //(7 odd)
           {x1}-={sx}
-          {vx}=-{vsx};{vy}=0
+          {vx}=0;{vy}=0
           pvt{pt2pt_time*tmx} abs;{t}={tmx}
         }}
         else if ({y1}+2*{sy}<={ny}){{ //(8)
@@ -1093,7 +1093,7 @@ enable plc 2
         {vx}=0;{vy}={vsy}
       }}else{{ // (5)
         {dx}=-1;{dy}=0
-        {vx}=-{vsx};{vy}=0
+        {vx}=-{vsx}/2;{vy}=-{vsy}/2
       }}
     }}
   }}
@@ -1299,8 +1299,8 @@ if __name__=='__main__':
     elif mode==6:
       grid={'pos':(-1000, -1200), 'pitch':(120, 120), 'count':(16, 20)}
       # section size (in wells)
-      ssz=(4, 5)
+      #ssz=(4, 5)
-      #ssz=(6, 10)
+      ssz=(6, 10)
       #ssz=(2, 5)
       #sdelay=ssz[0]*ssz[1]  # wait after <swait> section for motion trigger. swait=0:never wait
       sp.setup_motion(fnPrg=fn+'.prg',scale=1.,cnt=1,dwell=100,mode=6,grid=grid,ssz=ssz)