work on helicalscan

Readme.md

@@ -191,9 +191,23 @@ HelicalScan
 PPMAC=MOTTEST-CPPM-CRM0485
 gpasciiCommander --host $PPMAC mx-stage_sim.cfg -i
 
+Coord[1].SegMoveTime=.05
+will calculate all 0.05 sec the inverse kinematic.
+default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
+
 
 ssh root@$PPMAC sendgetsends -1
     send 1"SampleMessage\n"
+
+execute helicalscan.py
+
+```
+
+HelicalScan SCRATCH
+-------------------
+```
+
+
 &1p  ->this will trigger:forward kinematic
 cpx pmatch  ->this will trigger:forward kinematic
 
@@ -224,10 +238,12 @@ Motor[1,27,8].JogSpeed=8
 cpx ;linear abs; X0.2 Z0.3 B0.1 Y00000
 cpx ;linear abs; X0.2 Z0.3 B0.1 Y10000
 
-Coord[1].SegMoveTime=.05
-will calculate all 0.05 sec the inverse kinematic.
-default Coord[1].SegMoveTime=0, calculates inv kin. only at endpoints
+input  : dx:0.2 dz:0.3 w:5.72958 fy:3.3
+inv_trf: cx:2.34244 cz:18.2563 w:5.72958 fy:3.3
+fwd_trf: dx:0.2 dz:0.3 w:5.72958 fy:3.3
 
+#7j=2.34244;#8j=18.2563;#1j=5729.58;#2j=3.3
+&1p
 
 ```