try to cleanup stuff(1)
This commit is contained in:
@@ -192,7 +192,8 @@ class DebugPlot:
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def plot_points(pts):
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fig=plt.figure()
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ax = fig.add_subplot(1,1,1)
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ax.invert_xaxis();ax.invert_yaxis()
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#ax.invert_xaxis()
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ax.invert_yaxis()
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#hl=ax[0].plot(x, y, color=col)
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hl=ax.plot(pts[:,0],pts[:,1],'r.')
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hl=ax.plot(pts[:,0],pts[:,1],'y--')
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@@ -707,187 +708,197 @@ class ShapePath(MotionBase):
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the type of generated program is defined by <mode>$
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-> the list af all points that will be moved at, is in 'mot_pts'
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(m)= mandatory
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(o)= optional
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common kwargs:
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scale : scaling velocity (default=1. value=0 would stop at each point
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cnt : move path multiple times (default=1)
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dwell : dwell time at end (default=100ms)
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scale : (o) scaling velocity (default=1. value=0 would stop at each point
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cnt : (o) move path multiple times (default=1)
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dwell : (o) dwell time at end (default=100ms)
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mode:0 unused
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mode:1 pvt motion
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mode:1 pvt motion point list
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common kwargs plus:
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points : point list
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trf : optional transformation that will be done on 'points', mot_pts=trf*points
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points : (m) point list
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trf : (o) transformation that will be done on 'points', mot_pts=trf*points
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mode:2 unused
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mode:3 pvt motion using inverse fft velocity
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mode:3 pvt motion point list using inverse fft velocity
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common kwargs plus:
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points : point list
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trf : optional transformation that will be done on 'points', mot_pts=trf*points
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numPad : number of padding points to reduce aliasing (default=16)
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points : (m) point list
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trf : (o) transformation that will be done on 'points', mot_pts=trf*points
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numPad : (o) number of padding points to reduce aliasing (default=16)
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mode:4 pvt motion short code using grid parameters
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common kwargs plus:
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trf : transformation that will be done on 'grid points'
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grid: grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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trf : (o) transformation that will be done on 'grid points'
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grid: (m) grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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mode:5 pvt motion 'stop and go' short code using grid parameters.
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Instead of continous motion it moves and waits as given in the parameters
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common kwargs plus:
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trf : transformation that will be done on 'grid points'
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grid: grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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tmove: time to move in ms (move start on FEL-trigger
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twait: time to wait in ms
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trf : (o) transformation that will be done on 'grid points'
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grid: (m) grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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tmove: (m) time to move in ms (move start on FEL-trigger
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twait: (m) time to wait in ms
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(tmove+twait will be rounded to a multiple of fel_per)
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mode:6 pvt motion 'hit and return using grid parameters. continous motion on 2n ells to pump then same 2n wells to probe, then go 2 rows down
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common kwargs plus:
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trf : transformation that will be done on 'grid points'
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grid : grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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ssz : section size (in wells)
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smv : time(in num of shots) to move to next section (horiz/vert)
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trf : (o) transformation that will be done on 'grid points'
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grid : (m) grid parameters: {orig:(0,0),pitch(10,10),cnt:(10,10),mode:0}
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ssz : (m) section size (in wells)
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smv : (o) time(in num of shots) to move to next section (horiz/vert)
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default is (ssz[0]-1,ssz[1])
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sdelay: shots count of delay. Default is ssz[0]*ssz[1]
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sdelay: (o) shots count of delay. Default is ssz[0]*ssz[1]
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'''
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#scan=0 # snake motion X fast, Y slow
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scan=1 # snake motion Y fast, X slow (default)
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prg=f'close all buffers\nopen prog {prgId}\n Coord[1].DesTimeBase=Sys.ServoPeriod\n'
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verb=self.verbose
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comm=self.comm
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meta=self.meta
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if mode not in (1,3,4,5,6): #### pvt motion
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raise ValueError(f'unsupported mode:{mode}')
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try:
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self.sync_prg
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except AttributeError:
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_log.warning('missing motion sync code!')
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# this uses Coord[1].Tm and limits with MaxSpeed
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if mode in (1,3,4,5,6): #### pvt motion
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if mode!=5:
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pt2pt_time=meta['pt2pt_time']=meta['fel_per']
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scale=kwargs.get('scale', 1.)
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cnt=kwargs.get('cnt', 1) # move path multiple times
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dwell=kwargs.get('dwell', 100) # wait time at end of motion
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CoordFeedTime=1000. #Defaut deltatau value
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if mode in (1, 3): #### pvt motion, using points
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pt=kwargs['points']
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try:
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trf=kwargs['trf']
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except KeyError as e:
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self.mot_pts=pt
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verb=self.verbose
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comm=self.comm
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meta=self.meta
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#scan=0 # snake motion X fast, Y slow
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scan=1 # snake motion Y fast, X slow (default)
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argsStr=[f'mode:{mode}']
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for k,v in kwargs.items():
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if type(v) in (np.ndarray,np.matrix):
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argsStr.append(f'{k}:{type(v).__name__}({v.shape})')
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else:
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argsStr.append(f'{k}:{v}')
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prg='// '+' '.join(argsStr)
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prg+=f'\n\nclose all buffers\nopen prog {prgId}\n Coord[1].DesTimeBase=Sys.ServoPeriod\n'
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scale=kwargs.get('scale', 1.)
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cnt=kwargs.get('cnt', 1) # move path multiple times
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dwell=kwargs.get('dwell', 100) # wait time at end of motion
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CoordFeedTime=1000. #Defaut deltatau value
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if mode!=5:
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pt2pt_time=meta['pt2pt_time']=meta['fel_per']
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if mode in (1, 3): #### pvt motion, using points
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pt=kwargs['points']
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try:
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trf=kwargs['trf']
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except KeyError as e:
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self.mot_pts=pt
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else:
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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#pv is an array of posx posy velx vely
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pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype)
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pv[:]=np.NaN
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pv[ 0,(0,1)]=pt[0,:]
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pv[ 1:-1,(0,1)]=pt
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pv[ -1,(0,1)]=pt[-1,:]
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pv[(0,0,-1,-1),(2,3,2,3)]=0
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if mode==1: # set velocity to average from prev to next point
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dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
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pv[ 1:-1,(2,3)] = dist/(2.*pt2pt_time)*scale #um/ms
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else: # mode==3: # set velocity to the reconstructed inverse fourier transformation
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numPad=kwargs.get('numPad', 16)
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p=np.hstack((pt.T,pt[-1,:].repeat(numPad).reshape(2,-1)))
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k=p.shape[1]
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stp=((p[:,-1]-p[:,0])/(k-1)) #calculate steepness point to point
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#stp*=0
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p[0,:]-=stp[0]*np.arange(k)
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p[1,:]-=stp[1]*np.arange(k)
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f=np.fft.fftfreq(k, d=1.)
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pf=np.fft.fft(p)
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pfd=pf*f*1j # differentiate in fourier
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pd=np.fft.ifft(pfd)
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v=pd.real.T/pt2pt_time*np.pi*2+stp/pt2pt_time
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if numPad==0:
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n=None
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else:
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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#pv is an array of posx posy velx vely
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pv=np.ndarray(shape=(pt.shape[0]+2,4),dtype=pt.dtype)
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pv[:]=np.NaN
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pv[ 0,(0,1)]=pt[0,:]
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pv[ 1:-1,(0,1)]=pt
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pv[ -1,(0,1)]=pt[-1,:]
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pv[(0,0,-1,-1),(2,3,2,3)]=0
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if mode==1: # set velocity to average from prev to next point
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dist=pv[2:,(0,1)] - pv[:-2,(0,1)]
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pv[ 1:-1,(2,3)] = dist/(2.*pt2pt_time)*scale #um/ms
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else: # mode==3: # set velocity to the reconstructed inverse fourier transformation
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numPad=kwargs.get('numPad', 16)
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p=np.hstack((pt.T,pt[-1,:].repeat(numPad).reshape(2,-1)))
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k=p.shape[1]
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stp=((p[:,-1]-p[:,0])/(k-1)) #calculate steepness point to point
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#stp*=0
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p[0,:]-=stp[0]*np.arange(k)
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p[1,:]-=stp[1]*np.arange(k)
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f=np.fft.fftfreq(k, d=1.)
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pf=np.fft.fft(p)
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pfd=pf*f*1j # differentiate in fourier
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pd=np.fft.ifft(pfd)
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v=pd.real.T/pt2pt_time*np.pi*2+stp/pt2pt_time
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if numPad==0:
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n=None
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else:
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n=-numPad
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pv[ 1:-1,(2,3)] = v[:n]*scale
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if verb&0x20:
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if 'trf' in kwargs:
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_log.warning('correct ploting of pvt only works without transformation !')
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else:
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dp=DebugPlot(self);self.pvt=dp.plot_gen_pvt(pv)
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plt.show(block=False)
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pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
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prg+=' linear abs\n X%g Y%g\n' % tuple(pv[0, (0,1)])
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elif mode in (4,5): #### pvt motion, short code using grid parameters
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g=kwargs['grid']
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nx, ny=g['count']
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xx, yy=np.meshgrid(range(nx), range(ny))
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if scan==0: # snake motion X fast, Y slow
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for i in range(1,ny,2):
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xx[i]=xx[i][::-1]
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else: #scan==1 snake motion Y fast, X slow
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xx=xx.T
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yy=yy.T
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for i in range(1, nx, 2):
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yy[i]=yy[i][::-1]
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pt=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float64).transpose() #*pitch
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try:
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trf=kwargs['trf']
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except KeyError as e:
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ox, oy=g['pos']
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px, py=g['pitch']
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#self.mot_pts=pt
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self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
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n=-numPad
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pv[ 1:-1,(2,3)] = v[:n]*scale
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if verb&0x20:
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if 'trf' in kwargs:
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_log.warning('correct plotting of pvt only works without transformation !')
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else:
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ox, oy=(0,0)
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px, py=(1,1)
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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#prg+=f' linear abs\n X{ox:g} Y{oy:g}\n'
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prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
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else: #mode==6: #### pvt motion, hit and return using grid parameters
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g=kwargs['grid']
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nx,ny=g['count'] #total count of wells
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#TODO: rework pt calculation
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hrs=HitReturnSim()
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pt=hrs.sim_motion(mode=0xff if verb&0x20 else 0x00 , **kwargs)
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pt=np.array(pt)[:,:2]
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try:
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trf=kwargs['trf']
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except KeyError as e:
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ox, oy=g['pos']
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px, py=g['pitch']
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self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
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else:
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ox, oy=(0,0)
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px, py=(1,1)
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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sx,sy=kwargs['ssz'] #section size (in wells)
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try:
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tsx,tsy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
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except KeyError as e:
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tsx=sx-1
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tsy=sy
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try:
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tsd=kwargs['sdelay']
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except KeyError as e:
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tsd=sx*sy
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tsd+=1-sx*sy # sdl are shots to wait at position #(6)
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prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
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prg+=' dwell 10\n'
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try: prg+=self.sync_prg
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except AttributeError:
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#print('no sync code available')
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prg+=' Gather.Enable=2\n'
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if cnt>1:
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prg+=' P100=%d\n'%cnt
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prg+='N100:\n'
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if mode in (1,3):
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prg+=f'''\
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dp=DebugPlot(self);self.pvt=dp.plot_gen_pvt(pv)
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plt.show(block=False)
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pv[1:-1, (2, 3)]*=CoordFeedTime #scaling for Deltatau
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prg+=' linear abs\n X%g Y%g\n' % tuple(pv[0, (0,1)])
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elif mode in (4,5): #### pvt motion, short code using grid parameters
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g=kwargs['grid']
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nx, ny=g['count']
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xx, yy=np.meshgrid(range(nx), range(ny))
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if scan==0: # snake motion X fast, Y slow
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for i in range(1,ny,2):
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xx[i]=xx[i][::-1]
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else: #scan==1 snake motion Y fast, X slow
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xx=xx.T
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yy=yy.T
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for i in range(1, nx, 2):
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yy[i]=yy[i][::-1]
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pt=np.array([xx.reshape(-1), yy.reshape(-1)], dtype=np.float64).transpose() #*pitch
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try:
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trf=kwargs['trf']
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except KeyError as e:
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ox, oy=g['pos']
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px, py=g['pitch']
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#self.mot_pts=pt
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self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
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else:
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ox, oy=(0,0)
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px, py=(1,1)
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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#prg+=f' linear abs\n X{ox:g} Y{oy:g}\n'
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prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
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else: #mode==6: #### pvt motion, hit and return using grid parameters
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g=kwargs['grid']
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nx,ny=g['count'] #total count of wells
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#TODO: rework pt calculation
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hrs=HitReturnSim()
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pt=hrs.sim_motion(mode=0xff if verb&0x20 else 0x00 , **kwargs)
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pt=np.array(pt)[:,:2]
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try:
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trf=kwargs['trf']
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except KeyError as e:
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ox, oy=g['pos']
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px, py=g['pitch']
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self.mot_pts=pt*np.array(g['pitch'], np.float)+np.array(g['pos'], np.float)
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else:
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ox, oy=(0,0)
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px, py=(1,1)
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self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
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sx,sy=kwargs['ssz'] #section size (in wells)
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try:
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tsx,tsy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
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except KeyError as e:
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tsx=sx-1
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tsy=sy
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try:
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tsd=kwargs['sdelay']
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except KeyError as e:
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tsd=sx*sy
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tsd+=1-sx*sy # sdl are shots to wait at position #(6)
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prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
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prg+=' dwell 10\n'
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try: prg+=self.sync_prg
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except AttributeError:
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#print('no sync code available')
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prg+=' Gather.Enable=2\n'
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if cnt>1:
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prg+=' P100=%d\n'%cnt
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prg+='N100:\n'
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if mode in (1,3):
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prg+=f'''\
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//mode {mode}: pvt motion with each point in program code
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pvt{pt2pt_time} abs
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'''
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for idx in range(1,pv.shape[0]):
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#prg+=f'N{idx} ' + 'X%g:%g Y%g:%g\n'%tuple(pv[idx,(0,2,1,3)])
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prg+=f' X%g:%g Y%g:%g\n'%tuple(pv[idx, (0, 2, 1, 3)])
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prg+=f' X{pv[-1, 0]:g} Y{pv[-1, 1]:g}\n'
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elif mode==4:
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if scan==0:
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raise Exception('scan=0 not supported')
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pass
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else: # scan=1
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vx=px/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
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vy=py/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
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prg+=f'''\
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for idx in range(1,pv.shape[0]):
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#prg+=f'N{idx} ' + 'X%g:%g Y%g:%g\n'%tuple(pv[idx,(0,2,1,3)])
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prg+=f' X%g:%g Y%g:%g\n'%tuple(pv[idx, (0, 2, 1, 3)])
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prg+=f' X{pv[-1, 0]:g} Y{pv[-1, 1]:g}\n'
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elif mode==4:
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if scan==0:
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raise Exception('scan=0 not supported')
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pass
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else: # scan=1
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vx=px/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
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vy=py/(pt2pt_time)*scale*CoordFeedTime #scaling for Deltatau
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prg+=f'''\
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//mode 4: grid pvt motion
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pvt{pt2pt_time} abs
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L1=0 //slow loop x
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@@ -934,22 +945,22 @@ class ShapePath(MotionBase):
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X({ox}+L1*{px}):{0:g} Y({oy}+L0*{py}):{0:g}
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'''
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elif mode==5:
|
||||
if scan==0:
|
||||
raise Exception('scan=0 not supported')
|
||||
pass
|
||||
else: # scan=1
|
||||
if meta['sync_mode']==2:
|
||||
_log.error('sync_mode=2 not allowed for stop-and-go motion !')
|
||||
tmove=kwargs['tmove']
|
||||
twait=kwargs['twait']
|
||||
fel_per=meta['fel_per']
|
||||
pt2tp_felpulse=round((tmove+twait)/fel_per) # number of fel-pulses for a whole cycle (tmove+twait)
|
||||
meta['pt2pt_time']=fel_per*pt2tp_felpulse
|
||||
twait_=round((tmove+twait)/fel_per)*fel_per-tmove
|
||||
if twait!=twait_:
|
||||
_log.warning(f'adjust twait({twait}) to {twait_} to match multiple of fel-cycles')
|
||||
syncPlc=f'''\
|
||||
elif mode==5:
|
||||
if scan==0:
|
||||
raise Exception('scan=0 not supported')
|
||||
pass
|
||||
else: # scan=1
|
||||
if meta['sync_mode']==2:
|
||||
_log.error('sync_mode=2 not allowed for stop-and-go motion !')
|
||||
tmove=kwargs['tmove']
|
||||
twait=kwargs['twait']
|
||||
fel_per=meta['fel_per']
|
||||
pt2tp_felpulse=round((tmove+twait)/fel_per) # number of fel-pulses for a whole cycle (tmove+twait)
|
||||
meta['pt2pt_time']=fel_per*pt2tp_felpulse
|
||||
twait_=round((tmove+twait)/fel_per)*fel_per-tmove
|
||||
if twait!=twait_:
|
||||
_log.warning(f'adjust twait({twait}) to {twait_} to match multiple of fel-cycles')
|
||||
syncPlc=f'''\
|
||||
close all buffers
|
||||
disable plc 2
|
||||
open plc 2
|
||||
@@ -967,8 +978,8 @@ open plc 2
|
||||
close
|
||||
enable plc 2
|
||||
'''
|
||||
comm.gpascii.send_block(syncPlc, verb&0x08)
|
||||
prg+=f'''\
|
||||
if comm: comm.gpascii.send_block(syncPlc, verb&0x08)
|
||||
prg+=f'''\
|
||||
//mode 5: grid pvt motion
|
||||
pvt{tmove} abs
|
||||
L1=0 //slow loop x
|
||||
@@ -1023,31 +1034,31 @@ enable plc 2
|
||||
while(Sys.Udata[2]==Sys.Udata[1]){{}};Sys.Udata[2]=Sys.Udata[1] // wait motion trigger
|
||||
|
||||
'''
|
||||
elif mode==6:
|
||||
if scan==0:
|
||||
raise Exception('scan=0 not supported')
|
||||
pass
|
||||
else: # scan=1
|
||||
vsx=px/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
|
||||
vsy=py/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
|
||||
elif mode==6:
|
||||
if scan==0:
|
||||
raise Exception('scan=0 not supported')
|
||||
pass
|
||||
else: # scan=1
|
||||
vsx=px/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
|
||||
vsy=py/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
|
||||
|
||||
#g=kwargs['grid']
|
||||
#ox,oy=g['pos'] #origin position in um (or counts if scaled)
|
||||
#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)
|
||||
#tsx, tsy, tsd #time scale to pvt move to (next horiz|next vert| after position #6)
|
||||
tx,ty=nx//sx,ny//sy #total sections
|
||||
#g=kwargs['grid']
|
||||
#ox,oy=g['pos'] #origin position in um (or counts if scaled)
|
||||
#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)
|
||||
#tsx, tsy, tsd #time scale to pvt move to (next horiz|next vert| after position #6)
|
||||
tx,ty=nx//sx,ny//sy #total sections
|
||||
|
||||
#variables
|
||||
cx,cy,dx,dy,n,k,t,vx,vy,x,x0,y,y0=map(lambda x: f'L{x}',range(13))
|
||||
# replace in python code of hit_and_return.py setup_motion:
|
||||
# (cx|cy|dx|dy|n|k|sx|sy|tsd|tsx|tsy|tx|ty|vsx|vsy|vx|vy|x|x0|y|y0) -> {\1}
|
||||
# if ([^:]*): -> if \(\1\){{
|
||||
# else: -> }}else{{
|
||||
# elif ([^:]*): -> }}else if \(\1\){{
|
||||
#variables
|
||||
cx,cy,dx,dy,n,k,t,vx,vy,x,x0,y,y0=map(lambda x: f'L{x}',range(13))
|
||||
# replace in python code of hit_and_return.py setup_motion:
|
||||
# (cx|cy|dx|dy|n|k|sx|sy|tsd|tsx|tsy|tx|ty|vsx|vsy|vx|vy|x|x0|y|y0) -> {\1}
|
||||
# if ([^:]*): -> if \(\1\){{
|
||||
# else: -> }}else{{
|
||||
# elif ([^:]*): -> }}else if \(\1\){{
|
||||
|
||||
prg+=f'''\
|
||||
prg+=f'''\
|
||||
//mode 6: hit-and-return pvt motion
|
||||
|
||||
{t}=1 // motion pvt tome scaling
|
||||
@@ -1143,11 +1154,9 @@ enable plc 2
|
||||
}}
|
||||
|
||||
'''
|
||||
else:
|
||||
raise ValueError('unsupported mode')
|
||||
#common code to repeat the motion multiple times
|
||||
if cnt>1:
|
||||
prg+=f'''\
|
||||
#common code to repeat the motion multiple times
|
||||
if cnt>1:
|
||||
prg+=f'''\
|
||||
dwell 10
|
||||
P100=P100-1
|
||||
f(P100>0)
|
||||
@@ -1157,9 +1166,8 @@ f(P100>0)
|
||||
dwell {dwell}
|
||||
goto 100
|
||||
}}\n'''
|
||||
else:
|
||||
prg+=f' dwell {dwell}\n Gather.Enable=0\nclose\n'
|
||||
#prg+='&1\nb%dr\n'%prgId)
|
||||
else:
|
||||
prg+=f' dwell {dwell}\n Gather.Enable=0\nclose\n'
|
||||
|
||||
if verb&0x02:
|
||||
DebugPlot.plot_points(self.mot_pts)
|
||||
|
||||
Reference in New Issue
Block a user