wip 5cam mover

2018-03-29 16:53:23 +02:00
parent c7a3ac8f36
commit 69ffc089bf
11 changed files with 739 additions and 62 deletions
--- a/python/5camMeas.py
+++ b/python/5camMeas.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python
+# *-----------------------------------------------------------------------*
+# |                                                                       |
+# |  Copyright (c) 2017 by Paul Scherrer Institute (http://www.psi.ch)    |
+# |                                                                       |
+# |              Author Thierry Zamofing (thierry.zamofing@psi.ch)        |
+# *-----------------------------------------------------------------------*
+'''
+generate code to find HomeOffset for the 5cam systems
+
+the results are:
+amplitude: 5mm
+#1: homeoffset: -20907.5928142
+#2: homeoffset: 102320.329068
+#3: homeoffset: 168946.772022
+#4: homeoffset: -87830.7554146
+#5: homeoffset: -47956.2759182
+'''
+import numpy as np
+import matplotlib.pyplot as plt
+
+def meas_rot_ctr(y,per=1):
+  # find the amplitude bias and phase of an equidistant sampled sinus
+  # it needs at least 3 measurements e.g. at 0,120 240 deg or 0 90 180 270 deg
+  # per is the number of persiods, default is 1 period =360 deg
+  n=len(y)
+  f = np.fft.fft(y)
+  idx=int(per)
+  bias=np.absolute(f[0]/n)
+  phase=np.angle(f[idx])
+  ampl=np.absolute(f[idx])*2/n
+  print('len: '+str(n))
+  print('bias: '+str(bias))
+  print('amplitude: '+str(ampl))
+  print('phase: '+str(phase*360./2/np.pi))
+  print('homeoffset: '+str(-phase*360./2/np.pi*1000))
+
+def gen_code():
+  pos=np.arange(0,360000,12000)
+  mot=range(1,6)
+  #mot=range(1,2)
+  for m in mot:
+    print('''open prog %i
+  call15
+  abslinear
+  '''%(10+m))
+    for p in pos:
+      print("""  jog%i=%i
+  dwell 5000"""%(m,p))
+    print("""  jog%i=0
+  call16
+close
+"""%(m,))
+  for m in mot:
+    print("&1;b%ir"%(10+m))
+
+def plot():
+  '''
+  &1;b11r
+  &1;b12r
+  &1;b13r
+  &1;b14r
+  &1;b15r
+  '''
+  data1=[0,-.475,-1.123,-1.916,-2.819,-3.797,-4.799,-5.786,-6.708,-7.531,-8.219,-8.746,-9.085,-9.229,-9.176,-8.929,-8.499,-7.895,-7.142,-6.271,-5.320,-4.325,-3.329,-2.377,-1.513,-.780,-.216,.151,.305,.241]
+  data2=[0,1.04,2.092,3.108,4.041,4.847,5.496,5.946,6.184,6.196,5.976,5.540,4.907,4.110,3.181,2.162,1.103,0.051,-.953,-1.859,-2.639,-3.252,-3.677,-3.892,-3.893,-3.677,-3.256,-2.648,-1.878,-.980]
+  data3=[0,.296,0.785,1.445,2.248,3.160,4.146,5.165,6.170,7.120,7.968,8.676,9.210,9.541,9.660,9.564,9.274,8.807,8.154,7.340,6.398,5.378,4.318,3.271,2.310,1.485,.790,.282,-.028,-.130,]
+  data4=[0,-1.035,-2.021,-2.930,-3.713,-4.333,-4.777,-5.018,-5.057,-4.888,-4.522,-3.967,-3.249,-2.393,-1.430,-0.402,.650,1.678,2.633,3.470,4.146,4.626,4.887,4.916,4.711,4.297,3.69,2.917,2.010,1.021]
+  data5=[0,-.847,-1.786,-2.794,-3.815,-4.808,-5.727,-6.537,-7.194,-7.681,-7.987,-8.089,-7.990,-7.688,-7.204,-6.547,-5.745,-4.831,-3.840,-2.814,-1.799,-.844,0.015,.726,1.257,1.58,1.683,1.562,1.223,.685]
+  data=[data1,data2,data3,data4,data5]
+  for d in data:
+    meas_rot_ctr(d,1)
+    plt.plot(d)
+    plt.show()
+gen_code()
+plot()
+  
+