add preliminary path shaping and programming tools
This commit is contained in:
111
cfg/mx-stage.cfg
111
cfg/mx-stage.cfg
@@ -40,6 +40,113 @@ $$$***
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!common()
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!torqueCtrl()
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!sh sleep 1
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#1,2,3,4,6j/
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&1
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//#1-> 0.00001X+ 0.00001Y + A
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//#2-> +1. X + .5Y + 0.01A
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//#3-> + .5X +1. Y + 0.01A
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#1-> A
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#2-> X
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#3-> Y
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Coord[1].AltFeedRate=0
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Coord[1].Tm=1 //1ms time
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Motor[1].MaxSpeed=360
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Motor[2].MaxSpeed=50
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Motor[3].MaxSpeed=50
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open prog 1
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//this uses jogspeed
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rapid abs
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X(10000) Y(0) A(0)
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X(0) Y(10000) A(0)
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X(0) Y(0) A(36000)
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X(0) Y(0) A(0)
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close
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open prog 2
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//this uses Coord[1].Tm and limits with MaxSpeed
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linear abs
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X(10000) Y(0) A(0)
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X(0) Y(10000) A(0)
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X(0) Y(0) A(0)
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X(0) Y(0) A(36000)
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X(0) Y(0) A(0)
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close
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open prog 2
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//this uses Coord[1].Tm and limits with MaxSpeed
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linear abs
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X(10000) Y(0) A(0)
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X(0) Y(10000) A(0)
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X(0) Y(0) A(0)
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X(0) Y(0) A(36000)
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X(0) Y(0) A(0)
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close
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open prog 3
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Gather.Enable=2
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//this uses Coord[1].Tm and limits with MaxSpeed
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linear abs
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X(10000) //Y(0)
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//X(0) Y(0)
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//dwell 0
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X(0) Y(10000)
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X(0) Y(0)
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X(10000) Y(10000)
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X(0) Y(0)
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dwell 100
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Gather.Enable=0
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close
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open prog 4
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Gather.Enable=2
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//this uses Coord[1].Tm and limits with MaxSpeed
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linear abs
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X(100) Y(100)
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X(200) Y(110)
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X(300) Y(140)
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X(400) Y(130)
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X(500) Y(134)
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X(600) Y(146)
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X(700) Y(178)
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X(800) Y(143)
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X(900) Y(133)
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X(1000) Y(147)
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X(1100) Y(196)
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X(1200) Y(104)
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X(1300) Y(183)
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X(1400) Y(135)
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X(1500) Y(134)
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X(1600) Y(195)
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X(1700) Y(116)
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X(1800) Y(150)
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X(1900) Y(127)
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X(1900) Y(272)
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X(1800) Y(215)
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X(1700) Y(232)
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X(1600) Y(276)
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X(1500) Y(215)
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X(1400) Y(298)
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X(1300) Y(235)
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X(1200) Y(297)
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X(1100) Y(256)
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X(1000) Y(244)
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X(900) Y(279)
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X(800) Y(238)
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X(700) Y(265)
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X(600) Y(279)
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X(500) Y(234)
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X(400) Y(235)
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X(300) Y(297)
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X(200) Y(227)
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X(100) Y(256)
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dwell 100
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Gather.Enable=0
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close
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180
cfg/mygatherplot.py
Executable file
180
cfg/mygatherplot.py
Executable file
@@ -0,0 +1,180 @@
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#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2015 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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gathers data on powerpmac and plot
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#mode bits:
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0 1 configure acquisition -> needs -c
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1 2 start acquisition ->Gather.Enable=2
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2 4 stop acquisition ->Gather.Enable=0
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3 8 wait acquisition stopped ->while(1){if(Gather.Enable==0) break}
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4 16 upload acquisition
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5 32 plot acquisition -> needs -a (or -c)
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mode 1+2+8+16+32 | user sets a stop
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mode 1+2 | motion, wait some time| #mode 4+16+32
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mode 1+8+16+32 | start acqu, do motion stop acqu.
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verbose bits:
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1 basic info
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2 wait progress
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4 upload progress
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#config file example:
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{
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"channels": [
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"Motor[1].ActPos",
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"Motor[9].ActPos",
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"Motor[10].ActPos",
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"Motor[11].ActPos",
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"PowerBrick[0].GpioData[0]"
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],
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"axes": [
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[0, "b", "ActPos 1"],
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[1, "g", "ActPos_9"],
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[2, "r", "ActPos_10"],
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[3, "m", "ActPos_11"],
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[4, ["bits", 15, 3], "GPIO"]],
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"gather": {
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"MaxSamples":1000,
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"Period":10
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}
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}
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Acquired time is:MaxSamples*Period*.2
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'''
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#gatherPlot
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#channels -c '[Sys.ServoCount,Motor[1].ActPos,Motor[9].ActPos,Motor[10].ActPos,Motor[11].ActPos,PowerBrick[0].GpioData[0]]'
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#axis -a '(((0,1),'b','ActPos 1'), ((0,2),'g','ActPos 9'), ((0,3),'r','ActPos 10'), ((0,4),'m','ActPos 11'), ((0,5),('bits',14,18),'GPIO'))
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#('bits',14,18) means decode bits 14-18
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#
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#check: Gather.Enable Gather.Index
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#on PPMAC do something like:
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#Gather.Items=6
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#Gather.MaxSamples=10000
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#Gather.Period=10
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#Gather.Addr[0]=Sys.ServoCount.a
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#Gather.Addr[1]=Motor[1].ActPos.a
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#Gather.Addr[2]=Motor[9].ActPos.a
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#Gather.Addr[3]=Motor[10].ActPos.a
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#Gather.Addr[4]=Motor[11].ActPos.a
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#Gather.Addr[5]=PowerBrick[0].GpioData[0].a
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#
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#Gather.Enable=2
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## move the motor[1]
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#Gather.Enable=0
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#
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#1;&1;#1->1000X
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#k;j=0;P1=1000
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#b3r
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# to run that script without password, make first an ssh connection e.g. ssh root@PPMACZT84
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#
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import os, sys, json
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import numpy as np
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import matplotlib as mpl
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import subprocess as sprc
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class GatherPlot:
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def __init__(self):
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pass
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def plot1(self):
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import matplotlib.pyplot as plt
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fnLoc='/tmp/gather.txt'
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data = np.genfromtxt(fnLoc, delimiter=' ')
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x=np.arange(data.shape[0])*2. #-> msec
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pass #-> needs -a (or -c)
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fig=plt.figure()
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ax0 = fig.add_subplot(1,1,1)
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ax0.set_xlabel('msec')
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ax=[ax0,]
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axArgs=[(0,'r','A'),(1,'g','B'),(2,'b','C')]
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for i in range(len(axArgs)-1):
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ax.append(ax0.twinx())
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fig.subplots_adjust(right=0.75)
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n=(len(ax)-2);dx=.2/n
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for i in range(n):
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ax[2+i].spines['right'].set_position(('axes', 1+dx*(1+i)))
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ax[2+i].set_frame_on(True)
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ax[2+i].patch.set_visible(False)
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for i in range(len(axArgs)):
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idx,param,lbl=axArgs[i]
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col=param
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ax[i].set_ylabel(lbl, color=col)
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ax[i].plot(x, data[:,idx], color=col)
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ax[i].tick_params(axis='y', colors=col)
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plt.show()
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def plot(self):
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import matplotlib.pyplot as plt
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fnLoc='/tmp/gather.txt'
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data = np.genfromtxt(fnLoc, delimiter=' ')
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fig=plt.figure()
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ax0 = fig.add_subplot(1,1,1)
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ax0.set_xlabel('msec')
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ax=[ax0,]
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#fig.subplots_adjust(right=0.75)
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col='b'
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#idx=1
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#ax[0].set_ylabel(ch[idx], color=col)
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x=data[:,1]
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y=data[:,2]
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hl=ax[0].plot(x, y, color=col)
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ax[0].tick_params(axis='y', colors=col)
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cid = fig.canvas.mpl_connect('scroll_event', self.onclick)
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fig.obj=self
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self.data=data
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#self.ch=ch
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self.idx=1
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self.ax=ax
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self.col=col
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self.hl=hl
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plt.show()
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@staticmethod
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def onclick(event):
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#print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
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# event.button, event.x, event.y, event.xdata, event.ydata)
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obj=event.canvas.figure.obj
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if event.button=='up':
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if obj.idx<len(obj.ch)-1:
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obj.idx+=1
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else:
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if obj.idx>0:
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obj.idx-=1
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obj.ax[0].set_ylabel(obj.ch[obj.idx], color=obj.col)
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d=obj.data[:,obj.idx]
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if obj.args.diff:
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d=np.diff(d)
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obj.hl[0].set_ydata(d)
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#obj.ax[0].plot(x, obj.data[:,obj.idx]obj.data[:,obj.idx]obj.data[:,obj.idx], color=obj.col)
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min=bottom=d.min()
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max=d.max()
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delta=(max-min)/10.
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obj.ax[0].set_ylim(bottom=min-delta,top=max+delta,emit=True,auto=True)
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event.canvas.figure.show()
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if __name__=='__main__':
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gp=GatherPlot()
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gp.plot()
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196
cfg/shapepath.py
Executable file
196
cfg/shapepath.py
Executable file
@@ -0,0 +1,196 @@
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#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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shape an optimal path with given points
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#mode bits:
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0 1 sort and plot random points
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1 2 sort and plot grid(+some random) points
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2 4 generate motion program
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verbose bits:
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1 basic info
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2 plot sorting steps
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4 upload progress
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#config file example:
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{
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"points": [
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[100,523],[635,632],[756,213],
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"mode": ["plot","program","gather","???"],
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}
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Acquired time is:MaxSamples*Period*.2
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'''
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import os, sys, json
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import numpy as np
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import matplotlib as mpl
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import matplotlib.pyplot as plt
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import subprocess as sprc
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import telnetlib
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def ConvUtf8(s):
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'convert unicoded json object to ASCII encoded'
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#http://stackoverflow.com/questions/956867/how-to-get-string-objects-instead-of-unicode-ones-from-json-in-python
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if isinstance(s, dict):
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return {ConvUtf8(key): ConvUtf8(value) for key, value in s.iteritems()}
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elif isinstance(s, list):
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return [ConvUtf8(element) for element in s]
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elif isinstance(s, unicode):
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return s.encode('utf-8')
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else:
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return s
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class GpasciiCommunicator():
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'''Communicates with the Delta Tau gpascii programm
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'''
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gpascii_ack="\x06\r\n"
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gpascii_inp='Input\r\n'
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def connect(self, host, username='root', password='deltatau',prompt='ppmac# '):
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p=telnetlib.Telnet(host)
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print p.read_until('login: ')
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p.write(username+'\n')
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print p.read_until('Password: ')
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p.write(password+'\n')
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print p.read_until(prompt) # command prompt
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p.write('gpascii -2\n') # execute gpascii command
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print p.read_until(self.gpascii_inp)
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return p
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class ShapePath:
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def __init__(self,args):
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if args.cfg:
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fh=open(args.cfg,'r')
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s=fh.read()
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cfg=json.loads(s, object_hook=ConvUtf8)
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s=json.dumps(cfg, indent=2, separators=(',', ': '));print s
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else:
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cfg={"points": [[100,523],[635,632],[756,213]],"mode": ["plot","program","gather","???"]}
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#args.cfg={"points": [[100,523],[635,632],[756,213]],"mode": ["plot","program","gather","???"]}
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self.cfg=cfg
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self.args=args
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def run(self):
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print('args='+str(self.args))
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print('cfg='+str(self.cfg))
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mode=self.args.mode
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if mode&1:
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#generate random points and sort
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np.random.seed(0)
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#data=np.random.randint(0,1000,(30,2))
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data=np.random.rand(107,2)*1000
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self.points=data
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self.sort_points()
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if mode&2:
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np.random.seed(0)
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xx,yy=np.meshgrid(range(10), range(10))
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data=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*100
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data+=np.random.rand(100,2)*20
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self.points=data
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self.sort_points()
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if mode&4:
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pass
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def sort_points(self):
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data=self.points
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verb=self.args.verbose
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if verb&2:
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self.plot_points(data)
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#sort points along y
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data=data[data[:, 1].argsort()]
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if verb&2:
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self.plot_points(data)
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#group sorting
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cnt=data.shape[0]
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idx=np.ndarray(cnt,dtype=np.int32)
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grp_cnt=int(np.sqrt(cnt))
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grp_sz=int(np.ceil(float(cnt)/grp_cnt))
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for i in range(grp_cnt):
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a=i*grp_sz
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#print a,a+grp_sz
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if i%2:
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idx[a:a+grp_sz]=a+data[a:a+grp_sz,0].argsort()[::-1]
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else:
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idx[a:a+grp_sz]=a+data[a:a+grp_sz,0].argsort()
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#print(idx)
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data=data[idx]
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if verb&2:
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self.plot_points(data)
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plt.show()
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self.points=data
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@staticmethod
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def onclick(event):
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print 'button=%s, x=%d, y=%d, xdata=%f, ydata=%f'%(
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event.button, event.x, event.y, event.xdata, event.ydata)
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obj=event.canvas.figure.obj
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def plot_points(self,data):
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fig=plt.figure()
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ax = fig.add_subplot(1,1,1)
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#hl=ax[0].plot(x, y, color=col)
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hl=ax.plot(data[:,0],data[:,1],'r.')
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hl=ax.plot(data[:,0],data[:,1],'y--')
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cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.obj=self
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self.data=data
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self.ax=ax
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self.hl=hl
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if __name__=='__main__':
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from optparse import OptionParser, IndentedHelpFormatter
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class MyFormatter(IndentedHelpFormatter):
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'helper class for formating the OptionParser'
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def __init__(self):
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IndentedHelpFormatter.__init__(self)
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def format_epilog(self, epilog):
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if epilog:
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return epilog
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else:
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return ""
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def parse_args():
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'main command line interpreter function'
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#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
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(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
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exampleCmd=('--host=PPMAC1391 -m 63 --cfg gather.cfg',
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'samplePowerBrick.cfg',
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'-n stackCheck1.cfg',
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'--host=PPMACZT84 stackCheck1.cfg',
|
||||
'--host=PPMACZT84 stackCheck1.cfg -v15',
|
||||
)
|
||||
epilog=__doc__+'''
|
||||
Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
|
||||
|
||||
fmt=MyFormatter()
|
||||
parser=OptionParser(epilog=epilog, formatter=fmt)
|
||||
|
||||
parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
|
||||
parser.add_option('-m', '--mode', type="int", dest='mode', help='mode bits (see below)', default=0)
|
||||
parser.add_option('--cfg', help='config file containing json configuration structure')
|
||||
|
||||
(args, other)=parser.parse_args()
|
||||
args.other=other
|
||||
|
||||
sp=ShapePath(args)
|
||||
sp.run()
|
||||
#------------------ Main Code ----------------------------------
|
||||
#ssh_test()
|
||||
ret=parse_args()
|
||||
exit(ret)
|
||||
@@ -51,7 +51,7 @@ Motor[1].pPhaseEnc=Acc84B[0].Chan[0].SerialEncDataA.a
|
||||
//Motor[1].pAbsPhasePos=Acc84B[0].Chan[0].SerialEncDataA.a
|
||||
|
||||
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
|
||||
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=1000,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
|
||||
!motor(mot=1,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./8192,PhaseFindingDac=1000,PhaseFindingTime=1000,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10)
|
||||
|
||||
|
||||
//Stage X Parker MX80L
|
||||
|
||||
Reference in New Issue
Block a user