towards measure the mass of the stage
This commit is contained in:
61
logbook.md
61
logbook.md
@@ -401,3 +401,64 @@ Y(lower stage): 1N max 0.1N min.. depends on the magnetic poles
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#2out20 -> Force 2.5N iqCmd=402
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#2out30 -> Force 3N iqCmd=603 (changes in torque at poles)
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Weight: ca 750g
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*** 27.1.2017 ***
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==================
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Friction force of Parker stage: see blue logbook.
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Calculate the current at a given force:
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import numpy as np
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import plt as matplotlib.pyplot
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F=np.array([+300, +100, 0.,-50,-100,-150,-200,-250,-300])
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i=np.array([+625, 214, 38.,-104,-207,-300,-400,-500,-600])
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plt.plot(i,F,'.-')
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average Motor[3].iqMeas -610.949923065
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average Motor[3].iaMeas 432.573485303
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average Motor[3].ibMeas -699.459308138
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-> icMeas 432.573485303-699.459308138=-266.885822835
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Check cur_bits to current
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-------------------------
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Block motor 4
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set current to 10%: #4out10
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Measure current with amp meter and ./move_record.py
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Motor[4].PhasePos=313
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gelb 293 mA
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idCmd=0
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average Motor[4].iqMeas 452.897308732
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average Motor[4].iaMeas -274.830633873
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average Motor[4].ibMeas 523.056988602
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-> icMeas 248.226
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rot 560 mA
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average Motor[4].iqMeas 452.719438794
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average Motor[4].iaMeas -264.325534893
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average Motor[4].ibMeas 523.057788442
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-> icMeas 258.73
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schwarz 290mA
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average Motor[4].iqMeas 453.042713114
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average Motor[4].iaMeas -252.726254749
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average Motor[4].ibMeas 523.302539492
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-> icMeas 270.57
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PhasePos=0 ia=-512 ib=260 ic=240
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PhasePos=682 ia=250 ib=250 ic=500
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PhasePos=1364 ia=320 ib=-500 ic=180
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https://de.wikipedia.org/wiki/D/q-Transformation
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ia=-sin(phi)*iq
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ib=-sin(phi-120deg)*iq
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ic=-sin(phi-240deg)*iq
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...cant yet figure out the scaling...
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measure the mass of the stage... c ant figure it out...
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@@ -66,6 +66,8 @@ class MoveRecord:
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self.fnNpz=fn+'.npz'
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#cfg = {"sequencer": ['prog_1(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_1()']}
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cfg = {"sequencer": ['plot_1()']}
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#cfg = {"sequencer": ['prog_2(host="SAROP11-CPPM-MOT6871",acq_per=10)', 'plot_2()']}
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#cfg = {"sequencer": ['plot_2()']}
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self.cfg=dotdict(cfg)
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self.args=args
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@@ -159,7 +161,8 @@ class MoveRecord:
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prg.append('jog3=1000')
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prg.append('dwell 100')
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prg.append('Gather.Enable=2')
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for spd in (5,10,20,30,40):
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#for spd in (5,10,20,30,40):
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for spd in (20,20,20,20,20,20,20,20,20,20):
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prg.append('Motor[3].JogSpeed=%d'%spd)
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prg.append('jog3=27000')
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prg.append('dwell 100')
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@@ -182,12 +185,14 @@ class MoveRecord:
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meta['HomePos']=-223.8 #Motor[3].HomePos
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meta['PhasePos']=1200 #Motor[3].PhasePos
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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_1(self):
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try:
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rec=self.rec
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@@ -230,9 +235,133 @@ class MoveRecord:
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legend = ax.legend(loc='upper right', shadow=True)
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print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('overlay')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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sz=10; weights = np.repeat(1.0, sz) / sz
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v = np.convolve(rec[:,4], weights, 'same')
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hl+=ax.plot(rec[:,1],v,'r-',label=channels[4])
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ax.xaxis.set_label_text(channels[1])
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ax.yaxis.set_label_text('current in bits: '+channels[4])
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legend = ax.legend(loc='upper right', shadow=True)
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plt.show()
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def prog_2(self,prgId=2,host=None,acq_per=1):
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'''
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kwargs:
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acq_per : acquire period: acquire data all acq_per servo loops (default=1)
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prgId : used program number
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file : used filename to save if None, not saved
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host : host to send and execute program, if None, nothing is executed
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'''
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ServoPeriod= .2 #0.2ms Sys.ServoPeriod is dependent of !common() macro
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self.prgId=prgId
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self.file=file
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self.host=host
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self.gather={"MaxSamples":1000000, "Period":acq_per}
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self.channels=["Motor[3].ActPos","Motor[3].DesPos","Motor[3].PhasePos","Motor[3].idMeas","Motor[3].iqMeas"]
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self.meta=meta = {'timebase': ServoPeriod*self.gather['Period']}
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self.prg=prg=[]
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#prg.append('#1..3$')
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#prg.append('#1..3j/')
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self.prg_prolog()
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prg=self.prg
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prg.append(' linear abs')
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prg.append('Motor[3].JogTs=0')
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prg.append('Motor[3].JogSpeed=40')
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prg.append('jog3=10000')
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prg.append('dwell 100')
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prg.append('Gather.Enable=2')
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for acc in (-2.5,-1.25,-.5,-.25):
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prg.append('Motor[3].JogTa=%g'%acc)
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prg.append('jog3=17000')
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prg.append('dwell 100')
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prg.append('jog3=10000')
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prg.append('dwell 100')
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prg.append('Gather.Enable=0')
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self.prg_epilog()
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# &1 #1->0
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# &1 #2->0
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# #3$
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# an anschlag (kabel) bewegen
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# #3hmz
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# Motor[3].PhasePos=1200
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# #3j/
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# &1p
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#folgende parameter setzen: Motor[3].HomePos
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meta['HomePos']=-223.8 #Motor[3].HomePos
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meta['PhasePos']=1200 #Motor[3].PhasePos
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def plot_2(self):
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try:
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rec=self.rec
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prg=self.prg
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channels=self.channels
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meta=self.meta
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except AttributeError:
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fh=np.load(self.fnNpz)
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rec=fh['rec']
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prg=list(fh['prg'])
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channels=list(fh['channels'])
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meta=fh['meta'].item()
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time=np.arange(0,rec.shape[0])*meta['timebase']
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('position')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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p_avg=rec[:,1].mean();
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p=rec[:,0]-p_avg
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hl+=ax.plot(time,p,'r-',label=channels[0])
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#d=np.diff(p)*100
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#hl+=ax.plot(time[1:],d,'r-',label='vel of '+channels[0])
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#a=np.diff(d)*100
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#hl+=ax.plot(time[2:],a,'r-',label='acc of '+channels[0])
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p=rec[:,1]-p_avg
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hl+=ax.plot(time,p,'g-',label=channels[1])
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d=np.diff(p)*100
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hl+=ax.plot(time[1:],d,'g-',label='vel of '+channels[0])
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a=np.diff(d)*100
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hl+=ax.plot(time[2:],a,'g-',label='acc of '+channels[0])
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#hl+=ax.plot(time,rec[:,2],'b-',label=channels[2])
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('um')
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legend = ax.legend(loc='upper right', shadow=True)
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fig=plt.figure();
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fig.obj=self; cid=fig.canvas.mpl_connect('button_press_event', self.onclick)
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fig.canvas.set_window_title('current')
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ax = fig.add_subplot(1,1,1)
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hl=[]
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sz=100; weights = np.repeat(1.0, sz) / sz
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v = np.convolve(rec[:,3], weights, 'same')
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hl+=ax.plot(time,v,'r-',label=channels[3])
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v = np.convolve(rec[:, 4], weights, 'same')
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hl+=ax.plot(time,v,'g-',label=channels[4])
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ax.xaxis.set_label_text('ms')
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ax.yaxis.set_label_text('current in bits')
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legend = ax.legend(loc='upper right', shadow=True)
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print 'abs average ',channels[4], np.abs(rec[:, 4]).mean()
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plt.show()
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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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