wip(2)
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@@ -1029,158 +1029,99 @@ enable plc 2
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else: # scan=1
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vsx=px/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
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vsy=py/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
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g=kwargs['grid']
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ox,oy=g['pos'] #origin position in um (or counts if scaled)
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px,py=g['pitch'] #pitch to next position in um (or 1 if scaled)
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nx,ny=g['count'] #total count of wells
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sx,sy=kwargs['ssz'] #section size (in wells)
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tx,ty=nx//sx,ny//sy #total sections
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#variables
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r,x0,y0,n,dx,dy,x1,y1,t,vx,vy=map(lambda x: f'L{x}',range(11))
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# replace: [^{](x|y|x0|y0|cx|cy|x0|y0|n|dx|dy|vsx|vsy|vx|vy) -> {\1}
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prg+=f'''\
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g=kwargs['grid']
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ox,oy=g['pos'] #origin position in um (or counts if scaled)
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px,py=g['pitch'] #pitch to next position in um (or 1 if scaled)
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nx,ny=g['count'] #total count of wells
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sx,sy=kwargs['ssz'] #section size (in wells)
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tx,ty=nx//sx,ny//sy #total sections
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k=-1 # key position
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cx,cy=0,0 # section counter
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x0,y0,n=0,0,0 # counter well in region
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dx,dy=0,1 # motion pitch
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vsx=vsy=1 # scaled velocity
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vx,vy=0,vsy # scaled velocity
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mv=list()
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while(True):
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if cy%2==0: # even rows
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x=sx*cx+x0;y=sy*cy+y0
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else: # odd rows
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x=(tx-cx)*sx-x0-1;y=sy*cy+y0
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vx=-vx
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x0+=dx;y0+=dy
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print(f'X{x}:{vx} Y{y}:{vy} ({k}|{dx}|{dy}|{n})')
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mv.append((x+.1*n,y+.1*n,n))
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self.updatePlt(mv,vx,vy)
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if k>=0: #if keypoint not directly followed by an other keypoint, define future velocity
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if k in (0,4):
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vx,vy=0,vsy
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elif k==2:
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vx,vy=0,-vsy
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elif k==5:
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vx,vy=-vsx,0
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elif k==6:
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n+=1
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elif k==7:
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print('next h section')
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cx+=1
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x0,y0,n,dx,dy=0,0,0,0,0
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elif k==8:
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print('next v section')
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cx=0;cy+=1
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x0,y0,n,dx,dy=0,0,0,0,0
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if cy>=ty:
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print('finished whole grid')
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break #
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else:
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raise ValueError('should never happened')
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print(f'vx|vy after keypoint {k}: ({vx}|{vy})')
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k=-1
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if y0==sy-1:
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if dy==1: #(1)
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dx,dy=1,0
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vx,vy=vsx/2,vsy/2
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else:
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k,dx,dy=2,0,-1#(2)
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vx,vy=vsx/2,-vsy/2
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elif y0==1 and x0>0 and x0<sx-1:
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if dy==-1: #(3)
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dx,dy=1,0
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vx,vy=vsx/2,-vsy/2
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else:
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k,dx,dy=4,0,1 #(4)
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vx,vy=vsx/2,vsy/2
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elif y0==0:
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if n==1 and x0==1: #(7 or 8)
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if cx<tx-1:
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k,dx,dy=7,-1,0
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vx,vy=0,0
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else: #(8)
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k,dx,dy=8,sx-1,sy
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vx,vy=0,0
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elif x0==1: #(6)
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k,dx,dy=6,-1,0
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vx,vy=-vsx,0
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elif x0==0: #(0)
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k,dx,dy=0,0,1
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vx,vy=0,vsy
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elif x0==sx-1: #(5)
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k,dx,dy=5,-1,0
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vx,vy=-vsx/2,-vsy/2
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'''
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cx,cy,dx,dy,n,k,sx,sy,tx,ty,vsx,vsy,vx,vy,x,x0,y,y0=map(lambda x: f'L{x}',range(16))
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# replace in python code of hit_and_return.py setup_motion:
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# (cx|cy|dx|dy|n|k|sx|sy|tx|ty|vsx|vsy|vx|vy|x|x0|y|y0) -> {\1}
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# if ([^:]*): -> if \(\1\){{
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# else: -> }}else{{
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# elif ([^:]*): -> }}else if \(\1\){{
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prg+=f'''\
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//mode 6: hit-and-return pvt motion
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{r}=0 // row
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{x0}=0;{y0}=-1;{n}=0 // counter well in region
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{dx}=0;{dy}=1 // motion pitch
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{x1}=0;{y1}=0 // counter region start
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{t}=1 // motion pvt time scaling
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{k}=-1 # key position
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{cx},{cy}=0,0 # section counter
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{x0},{y0},{n}=0,0,0 # counter well in region
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{dx},{dy}=0,1 # motion pitch
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{vsx}={vsy}=1 # scaled velocity
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{vx},{vy}=0,{vsy} # scaled velocity
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pvt{pt2pt_time} abs
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while(1){{
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//send 1"A:move(%d) X%g:%g Y%g:%g",{n},{ox}+{x0}+{x1}*{px},{dx},{oy}+{y0}+{y1}*{py},{dy}
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X({ox}+({x0}+{x1})*{px}):({vx}) Y({oy}+({y0}+{y1})*{py}):({vy})
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{x0}+={dx};{y0}+={dy}
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if ({t}!=1){{
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pvt{pt2pt_time} abs;{t}=1
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while(1){{:
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if ({cy}%2==0){{ # even rows
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{x}={sx}*{cx}+{x0};{y}={sy}*{cy}+{y0}
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}}else{{ # odd rows
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{x}=({tx}-{cx})*{sx}-{x0}-1;{y}={sy}*{cy}+{y0}
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{vx}=-{vx}
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}}
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{x0}+={dx};{y0}+={dy}
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//send 1"A:move(%d) X%g:%g Y%g:%g",{k},{x},{vx},{y},{vy}
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X({x}):({vx}) Y({y}):({vy})
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if ({k}>=0){{ #if keypoint not directly followed by an other keypoint, define future velocity
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if ({k}==0 || {k}==4){{
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{vx},{vy}=0,{vsy}
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}}else if ({k}==2){{
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{vx},{vy}=0,-{vsy}
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}}else if ({k}==5){{
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{vx},{vy}=-{vsx},0
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}}else if ({k}==6){{
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{n}+=1
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}}else if ({k}==7){{
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//send 1"next h section"
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{cx}+=1
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{x0},{y0},{n},{dx},{dy}=0,0,0,0,0
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}}else if ({k}==8){{
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//send 1"next v section"
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{cx}=0;{cy}+=1
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{x0},{y0},{n},{dx},{dy}=0,0,0,0,0
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if ({cy}>={ty}){{
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//send 1"finished whole grid"
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break
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}}
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}}
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//send 1"after keypoint %d: %g|%g",{k},{vx},{vy}
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{k}=-1
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if ({y0}=={sy}-1){{
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if ({dy}==1){{ // (1)
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{dx}=1;{dy}=0
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{vx}={vsx}/2;{vy}={vsy}/2
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if ({dy}==1){{ #(1)
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{dx},{dy}=1,0
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{vx},{vy}={vsx}/2,{vsy}/2
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}}else{{
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{dx}=0;{dy}=-1// (2)
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{vx}={vsx}/2;{vy}=-{vsy}/2
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{k},{dx},{dy}=2,0,-1#(2)
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{vx},{vy}={vsx}/2,-{vsy}/2
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}}
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}}else if ({y0}==1 && {x0}<{sx}-1){{
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if ({dy}==-1){{ // (3)
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{dx}=1;{dy}=0
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{vx}={vsx}/2;{vy}=-{vsy}/2
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}}else if ({y0}==1 && {x0}>0 && {x0}<{sx}-1){{
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if ({dy}==-1){{ #(3)
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{dx},{dy}=1,0
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{vx},{vy}={vsx}/2,-{vsy}/2
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}}else{{
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{dx}=0;{dy}=1 // (4)
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{vx}={vsx}/2;{vy}={vsy}/2
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}}
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{k},{dx},{dy}=4,0,1 #(4)
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{vx},{vy}={vsx}/2,{vsy}/2
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}}else if ({y0}==0){{
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if ({n}==1 && {x0}==1){{ // (7 or 8)
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if ({r}%2==0 && {x1}+2*{sx}<={nx}){{ // (7 even)
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{x1}+={sx}
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{vx}={vsx};{vy}=0
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pvt{pt2pt_time*tmx} abs;{t}={tmx}
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if ({n}==1 && {x0}==1){{ #(7 or 8)
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if ({cx}<{tx}-1){{
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{k},{dx},{dy}=7,-1,0
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{vx},{vy}=0,0
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}}else{{ #(8)
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{k},{dx},{dy}=8,{sx}-1,{sy}
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{vx},{vy}=0,0
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}}
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else if ({r}%2==1 && {x1}>0){{ //(7 odd)
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{x1}-={sx}
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{vx}=0;{vy}=0
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pvt{pt2pt_time*tmx} abs;{t}={tmx}
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}}
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else if ({y1}+2*{sy}<={ny}){{ //(8)
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{y1}+={sy};{r}+=1
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{vx}=0;{vy}={vsy}
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pvt{pt2pt_time*tmy} abs;{t}={tmy}
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}}else{{
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break // finished whole grid
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}}
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//send 1"next regionA"
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{x0}=0;{y0}=0;{n}=0
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{dx}=0;{dy}=0
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}}else if ({x0}==1){{ // (6)
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{dx}=-1;{dy}=0;{n}+=1
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{vx}=-{vsx};{vy}=0
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pvt{pt2pt_time*sdl} abs;{t}={tmy}
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}}else if ({x0}==0){{ // (0)
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{dx}=0;{dy}=1
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{vx}=0;{vy}={vsy}
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}}else{{ // (5)
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{dx}=-1;{dy}=0
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{vx}=-{vsx}/2;{vy}=-{vsy}/2
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}}else if ({x0}==1){{ #(6)
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{k},{dx},{dy}=6,-1,0
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{vx},{vy}=-{vsx},0
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}}else if ({x0}==0){{ #(0)
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{k},{dx},{dy}=0,0,1
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{vx},{vy}=0,{vsy}
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}}else if ({x0}=={sx}-1){{ #(5)
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{k},{dx},{dy}=5,-1,0
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{vx},{vy}=-{vsx}/2,-{vsy}/2
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}}
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}}
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}}
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