From b78bfacbc6eeb4fe1ae10c61f563a9f99378d891 Mon Sep 17 00:00:00 2001
From: Thierry Zamofing <thierry.zamofing@psi.ch>
Date: Fri, 8 Dec 2017 09:26:49 +0100
Subject: [PATCH] change angle for deltatau from rad to 1000*deg

---
 Readme.md             | 29 +++++++++++++++++++----------
 python/helicalscan.py |  6 ++++--
 2 files changed, 23 insertions(+), 12 deletions(-)

diff --git a/Readme.md b/Readme.md
index c372336..a8390a0 100644
--- a/Readme.md
+++ b/Readme.md
@@ -187,8 +187,11 @@ caQtDm -macro 'P=SAR-ESB_MX' ESB_MX_exp
 
 HelicalScan
 -----------
-
+```
 PPMAC=MOTTEST-CPPM-CRM0485
+gpasciiCommander --host $PPMAC mx-stage_sim.cfg -i
+
+
 ssh root@$PPMAC sendgetsends -1
     send 1"SampleMessage\n"
 &1p  ->this will trigger:forward kinematic
@@ -197,14 +200,20 @@ cpx pmatch  ->this will trigger:forward kinematic
 
 cpx ;linear abs; X0Y0Z0B0  ->this will trigger: inverse
 
-cpx ;linear abs; X1.4678795645244058 Y18.549693638496166, B0.0 Z2.3
+#7j=0.1 //cx
+#8j=0.2 //cy
+#1j=0.3 //w
+#2j=0.4 //fx
 
-#7j=1.4678795645244058 
-#8j=18.549693638496166
-#1j=0.0
-#2j=2.3
+(cx,cz,w,fy)  (2.6164986454377614, 17.758728111340563, 0.1, 4.3)
+(dx,dz,w,y)   (0.2, 0.3, 0.1, 4.3)
+
+#7j=2.6164986454377614
+#8j=17.758728111340563
+#1j=5729.578 //  0.1*1000.*360./(2*pi)
+#2j=4.3
+&1p
+B0.1 X0.2 Y4.3 Z0.3
+cpx ;linear abs; X0.2 Z0.3, B0.1 Y4.3
+```
 
-#7j=0   //cx
-#8j=0   //cy
-#1j=0.0 //w
-#2j=2.3 //fx
diff --git a/python/helicalscan.py b/python/helicalscan.py
index 80f8b03..b6ded7f 100755
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -489,6 +489,8 @@ open forward
       #https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l=[j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
       prg.append("  define(z_%i=%g, y_%i=%g, x_%i=%g, r_%i=%g, phi_%i=%g)"%tuple(l))
+    prg.append("  W=qW")
+    prg.append("  qW=qW*%g"%(d2r/1000.)) #scale from 1000*deg to rad
     prg.append('''
   p0_x=x_0+r_0*sin(phi_0+qW)
   p1_x=x_1+r_1*sin(phi_1+qW)
@@ -504,7 +506,6 @@ open forward
   DX=qCX-p0_x
   DZ=qCZ-p0_z
   Y=qFY
-  W=qW
   send 1"forward result    %f %f %f %f\\n",DX,DZ,W,Y
 
   D0=$000001c2; //B=$2 X=$40 Y=$80 Z=$100 hex(2+int('40',16)+int('80',16)+int('100',16)) -> 0x1c2
@@ -525,6 +526,8 @@ open inverse
       # https://stackoverflow.com/questions/3471999/how-do-i-merge-two-lists-into-a-single-list
       l = [j for i in zip((i,) * param.shape[1], list(param[i])) for j in i]
       prg.append("  define(z_%i=%g, y_%i=%g, x_%i=%g, r_%i=%g, phi_%i=%g)" % tuple(l))
+    prg.append("  qW=W")
+    prg.append("  W=W*%g"%(d2r/1000.)) #scale from 1000*deg to rad
     prg.append('''
   p0_x=x_0+r_0*sin(phi_0+W)
   p1_x=x_1+r_1*sin(phi_1+W)
@@ -540,7 +543,6 @@ open inverse
   qCX=DX+p0_x
   qCZ=DZ+p0_z
   qFY=Y
-  qW=W
   send 1"inverse result    %f %f %f %f\\n",qCX,qCZ,qW,qFY
 
 close