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checking coordinate transform

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zamofing_t
2018-04-05 08:44:37 +02:00
parent 99b45f47b6
commit 85414a7acf
9 changed files with 474 additions and 33 deletions
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20
cfg/MX3_coordTrf.py
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@@ -73,11 +73,11 @@ open forward
//X=D^-1*S
X=+.5*S1 -.5*S2 +(r+.5)*S3 +(r-.5)*S4 +(.5-r)*$sqrt2*S5
Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5
U= -.5*S3 -.5*S4 +.5*$sqrt2*S5
V=-.5*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5
W=-.5*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5
X=+.5*S1 -.5*S2 +(r+.25)*S3 +(r-.75)*S4 +(.25-r)*$sqrt2*S5
Y=+.5*S1 +.5*S2 +.25*S3 +.25*S4 +.25*$sqrt2*S5
U= +1.*S3 +1.*S4 -1.*$sqrt2*S5
V=-1.*S1 +1.*S2 +1.5*S3 -.5*S4 -.5*$sqrt2*S5
W=-1.*S1 -1.*S2 +.5*S3 +.5*S4 +.5*$sqrt2*S5
send 1"fwd_res %f %f %f %f %f\\n",X,Y,U,V,W
@@ -97,11 +97,11 @@ open inverse
r=$height/$width
S1=+.5*X +.5*Y +(0) *U -.5*V +.5*W
S2=-.5*X +.5*Y +(0) *U +.5*V +.5*W
S3=+.5*X +.5*Y -(.5) *U +.5*V -.5*W
S4=-.5*X +.5*Y -(.5) *U -.5*V -.5*W
S5= .5*$sqrt2*Y +.5*$sqrt2*U -.5*$sqrt2*W
S1=+.5*X +.5*Y +(.25-.5*r)*U -.25*V -.25*W
S2=-.5*X +.5*Y +(.5*r-.25)*U +.25*V -.25*W
S3=+.5*X +.5*Y +(.25-.5*r)*U +.25*V +.25*W
S4=-.5*X +.5*Y +(.25+.5*r)*U -.25*V +.25*W
S5= .5*$sqrt2*Y -.25*$sqrt2*U +.25*$sqrt2*W
scl=$sqrt2/$exc
AA1=asin(S1*scl)/$camSf

18
cfg/SAR-EXPMX3.cfg
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@@ -1,6 +1,6 @@
!MX3_setup()
//!MX3_setup_sim() // comment out !MX3_setup() when this is active
X3_setup()
!MX3_setup_sim() // comment out !MX3_setup() when this is active
//!MX3_home()
//using 360000 for 1 rev. -> 1.7453292519943296e-05=np.pi/180000
//excentricity= 5mm
@@ -17,16 +17,16 @@ Coord[1].Tm=-10000 //1000um/FeedTime -> 1mm/sec
Coord[1].FeedTime=1000 //default value 1000um
Motor[1].InPosBand=10
Motor[2].InPosBand=10
Motor[3].InPosBand=10
Motor[4].InPosBand=10
Motor[5].InPosBand=10
//motor current off (as cpxcall 16)
Motor[1].IdCmd=0;Motor[1].InPosBand=10
Motor[2].IdCmd=0;Motor[2].InPosBand=10
Motor[3].IdCmd=0;Motor[3].InPosBand=10
Motor[4].IdCmd=0;Motor[4].InPosBand=10
Motor[5].IdCmd=0;Motor[5].InPosBand=10
#1..5hmz
#1..5j/
&1
cpx call 16 //lock brakes, motor current off

26
cfg/stream.cfg Normal file
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@@ -0,0 +1,26 @@
# Author : zamofing_t
#Terminator = CR;
#ExtraInput = Ignore;
WaitDelay = 40;
WriteTimeout = 500;
ReplyTimeout = 4000;
#ReadTimeout = 500;
# ---------------- debug DEBUG debug DEBUG----------- #
debug {
out "%s";wait $WaitDelay; in "%#s"
}
#same as debug but without readback
debug0 {
out "%s";
}
# end
moveXYUVW {
out "cpx abs linear;call 15; X(%(\$1X.VAL)f)Y(%(\$1Y.VAL)f)U(%(\$1U.VAL)f)V(%(\$1V.VAL)f)W(%(\$1W.VAL)f);call 16";
wait $WaitDelay;
in "%#s"
}