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zamofing_t
2018-11-22 16:26:46 +01:00
parent e832b40124
commit d401667442
16 changed files with 35 additions and 1692 deletions
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20
.gitignore vendored
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@@ -1,14 +1,22 @@
.tmp_versions/
.idea/
gather/
*~
*.pyc
src/*/*.ko
src/*/*.mod.c
*.ko
*.mod.c
*.o
*o.cmd
*.slxc
*.autosave
*.original
Module.symvers
modules.order
python/usr_code/usrcode.c
python/usr_code/usrcode.h
.idea/
.tmp_versions/
gather/
matlab/slprj/
old/
python/images/
python/MXTuning/
old/
python/old_npz/
python/PBMotionAnalyzer/records/

16
matlab/chkCtrlObsv.m Normal file
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@@ -0,0 +1,16 @@
function chkCtrlObsv(ss,s)
P=ctrb(ss.A,ss.B);
if rank(ss.A)==rank(P)
ct='';%controlable
else
ct='not ';%not controlable
end
Q=obsv(ss.A,ss.C);
if rank(ss.A)==rank(Q)
ob='';%sys observable
else
ob='not ';%not observable
end
disp([s,' is ',ct,'controlable and ',ob,'observable.']);
end

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python/PBMotionAnalyzer/records/mode0.npz
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421
python/PBMotionAnalyzer/records/mode0.prg
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@@ -1,421 +0,0 @@
Gather.Enable=0
Gather.Items=6
Gather.MaxSamples=1000000
Gather.Period=1
Gather.Addr[0]=Motor[1].ActPos.a
Gather.Addr[1]=Motor[2].ActPos.a
Gather.Addr[2]=Motor[3].ActPos.a
Gather.Addr[3]=Motor[1].DesPos.a
Gather.Addr[4]=Motor[2].DesPos.a
Gather.Addr[5]=Motor[3].DesPos.a
open prog 2
linear abs
X(131.055) Y(12.0362)
dwell 10
Gather.Enable=2
linear abs
X131.055 Y12.0362
X132.488 Y53.4272
X190.567 Y19.1229
X199.997 Y18.5218
X371.919 Y1.38335
X459.856 Y44.6123
X518.201 Y25.6627
X586.513 Y20.1075
X614.465 Y33.0746
X617.877 Y13.2369
X645.57 Y35.3624
X704.414 Y31.8389
X725.594 Y11.4275
X739.264 Y39.1878
X828.94 Y4.69548
X862.319 Y48.6903
X867.167 Y29.1902
X919.783 Y36.0338
X924.967 Y46.0073
X962.77 Y16.8717
X989.41 Y65.3042
X903.72 Y83.4224
X859.581 Y58.5349
X799.796 Y76.9564
X697.631 Y60.2255
X689.768 Y58.3564
X680.349 Y63.2076
X614.528 Y70.0422
X612.867 Y81.3696
X521.037 Y54.338
X440.264 Y76.4868
X407.183 Y69.167
X333.145 Y81.1014
X304.199 Y75.3591
X265.04 Y66.1495
X80.532 Y85.3109
X79.5221 Y89.603
X71.0361 Y87.1293
X39.6155 Y59.9443
X24.6787 Y67.2496
X117.32 Y107.004
X158.97 Y110.375
X209.75 Y115.703
X221.396 Y100.014
X240.829 Y100.294
X249.42 Y105.906
X282.807 Y120.197
X296.14 Y118.728
X424.663 Y107.618
X470.621 Y115.834
X523.248 Y93.9405
X596.433 Y117.526
X693.956 Y90.8857
X790.84 Y97.2429
X820.993 Y97.1013
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X862.063 Y97.258
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X210.383 Y128.926
X208.877 Y161.31
X117.38 Y159.845
X102.414 Y156.383
X3.86035 Y178.58
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X153.369 Y199.596
X237.807 Y171.853
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X7.8841 Y372.679
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X432.984 Y528.234
X432.281 Y521.996
X430.402 Y510.017
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X277.34 Y524.38
X248.753 Y576.157
X162.12 Y559.682
X18.7898 Y617.635
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X934.214 Y613.966
X976.761 Y604.846
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X943.748 Y681.82
X822.407 Y653.421
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X968.972 Y904.948
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X502.389 Y942.584
X541.381 Y923.306
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X575.946 Y929.296
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X751.022 Y927.212
X848.15 Y935.832
X880.678 Y945.027
X975.884 Y932.561
X974.256 Y990.345
X972.919 Y960.835
X829.897 Y968.286
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X735.194 Y962.189
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X296.556 Y992.011
X46.8064 Y970.731
X33.3046 Y958.983
dwell 100
Gather.Enable=0
close
&1
b2r

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python/PBMotionAnalyzer/records/mode1.npz
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423
python/PBMotionAnalyzer/records/mode1.prg
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@@ -1,423 +0,0 @@
Gather.Enable=0
Gather.Items=6
Gather.MaxSamples=1000000
Gather.Period=1
Gather.Addr[0]=Motor[1].ActPos.a
Gather.Addr[1]=Motor[2].ActPos.a
Gather.Addr[2]=Motor[3].ActPos.a
Gather.Addr[3]=Motor[1].DesPos.a
Gather.Addr[4]=Motor[2].DesPos.a
Gather.Addr[5]=Motor[3].DesPos.a
open prog 2
linear abs
X131.055 Y12.0362
dwell 10
Gather.Enable=2
pvt10 abs
X131.055:71.6202 Y12.0362:2069.55
X132.488:2975.58 Y53.4272:354.334
X190.567:3375.44 Y19.1229:-1745.27
X199.997:9067.59 Y18.5218:-886.977
X371.919:12993 Y1.38335:1304.53
X459.856:7314.1 Y44.6123:1213.97
X518.201:6332.85 Y25.6627:-1225.24
X586.513:4813.2 Y20.1075:370.594
X614.465:1568.19 Y33.0746:-343.534
X617.877:1555.28 Y13.2369:114.392
X645.57:4326.89 Y35.3624:930.104
X704.414:4001.21 Y31.8389:-1196.75
X725.594:1742.46 Y11.4275:367.443
X739.264:5167.28 Y39.1878:-336.599
X828.94:6152.75 Y4.69548:475.125
X862.319:1911.36 Y48.6903:1224.74
X867.167:2873.21 Y29.1902:-632.824
X919.783:2889.99 Y36.0338:840.854
X924.967:2149.38 Y46.0073:-958.107
X962.77:3222.14 Y16.8717:964.845
X989.41:-2952.53 Y65.3042:3327.54
X903.72:-6491.45 Y83.4224:-338.464
X859.581:-5196.19 Y58.5349:-323.299
X799.796:-8097.48 Y76.9564:84.5275
X697.631:-5501.38 Y60.2255:-930.004
X689.768:-864.126 Y58.3564:149.107
X680.349:-3762.03 Y63.2076:584.292
X614.528:-3374.1 Y70.0422:908.099
X612.867:-4674.55 Y81.3696:-785.21
X521.037:-8630.15 Y54.338:-244.141
X440.264:-5692.67 Y76.4868:741.45
X407.183:-5355.93 Y69.167:230.731
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X961.936:-2779.81 Y292.148:3376.65
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X671.383:-11754.9 Y344.718:27.7626
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dwell 1000
Gather.Enable=0
close
&1
b2r

BIN
python/PBMotionAnalyzer/records/mode2.npz
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python/PBMotionAnalyzer/records/mode2.prg
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@@ -1,421 +0,0 @@
Gather.Enable=0
Gather.Items=6
Gather.MaxSamples=1000000
Gather.Period=1
Gather.Addr[0]=Motor[1].ActPos.a
Gather.Addr[1]=Motor[2].ActPos.a
Gather.Addr[2]=Motor[3].ActPos.a
Gather.Addr[3]=Motor[1].DesPos.a
Gather.Addr[4]=Motor[2].DesPos.a
Gather.Addr[5]=Motor[3].DesPos.a
open prog 2
linear abs
X(131.055) Y(12.0362)
dwell 10
Gather.Enable=2
spline10 abs
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X7.43166 Y969.143
X33.3046 Y958.983
dwell 100
Gather.Enable=0
close
&1
b2r

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python/PBMotionAnalyzer/records/shapepath.prg
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@@ -1,418 +0,0 @@
Gather.Enable=0
Gather.Items=6
Gather.MaxSamples=100000
Gather.Period=10
Gather.Addr[0]=Motor[1].ActPos.a
Gather.Addr[1]=Motor[2].ActPos.a
Gather.Addr[2]=Motor[3].ActPos.a
Gather.Addr[3]=Motor[1].DesPos.a
Gather.Addr[4]=Motor[2].DesPos.a
Gather.Addr[5]=Motor[3].DesPos.a
open prog 2
Gather.Enable=2
linear abs
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X(56.027634) Y(5.448832)
X(104.236548) Y(6.458941)
X(154.375872) Y(8.917730)
X(209.636628) Y(3.834415)
X(257.917250) Y(5.288949)
X(305.680446) Y(9.255966)
X(350.710361) Y(0.871293)
X(400.202184) Y(8.326198)
X(457.781568) Y(8.700121)
X(509.786183) Y(7.991586)
X(554.614794) Y(7.805292)
X(601.182744) Y(6.399210)
X(651.433533) Y(9.446689)
X(705.218483) Y(4.146619)
X(752.645556) Y(7.742337)
X(804.561503) Y(5.684339)
X(850.187898) Y(6.176355)
X(906.120957) Y(6.169340)
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X(952.961402) Y(51.187277)
X(902.828070) Y(51.201966)
X(857.392636) Y(50.391878)
X(809.767611) Y(56.048455)
X(759.764595) Y(54.686512)
X(708.379449) Y(50.960984)
X(658.209932) Y(50.971013)
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X(556.563296) Y(51.381830)
X(501.589696) Y(51.103751)
X(454.663108) Y(52.444256)
X(406.531083) Y(52.532916)
X(352.088768) Y(51.613095)
X(309.883738) Y(51.020448)
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X(458.289400) Y(100.046955)
X(506.778165) Y(102.700080)
X(557.351940) Y(109.621885)
X(602.487531) Y(105.761573)
X(655.920419) Y(105.722519)
X(702.230816) Y(109.527490)
X(754.471254) Y(108.464087)
X(806.994793) Y(102.974370)
X(858.137978) Y(103.965057)
X(908.811032) Y(105.812729)
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X(405.743252) Y(156.532008)
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X(301.354741) Y(152.982823)
X(256.180154) Y(154.287687)
X(206.601735) Y(152.900776)
X(150.191932) Y(153.015748)
X(104.238550) Y(156.063932)
X(59.560836) Y(156.439902)
X(7.252543) Y(155.013244)
X(6.974288) Y(204.535427)
X(57.220556) Y(208.663823)
X(109.755215) Y(208.558033)
X(150.117141) Y(203.599781)
X(207.299906) Y(201.716297)
X(255.210366) Y(200.543380)
X(301.999965) Y(200.185218)
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X(903.741700) Y(254.635754)
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X(455.883171) Y(258.310485)
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X(306.630782) Y(252.633224)
X(259.903389) Y(252.168970)
X(205.365792) Y(258.966713)
X(156.793928) Y(254.536968)
X(100.246787) Y(250.672496)
X(53.777518) Y(251.796037)
X(3.117959) Y(256.963435)
X(8.638556) Y(301.175319)
X(55.173791) Y(301.320681)
X(107.168597) Y(303.960597)
X(155.654213) Y(301.832798)
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X(253.556127) Y(309.404319)
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X(209.591423) Y(851.032982)
X(157.032175) Y(856.347863)
X(101.097845) Y(856.063081)
X(50.299503) Y(857.372542)
X(4.053736) Y(853.210430)
X(7.510216) Y(909.272118)
X(50.289525) Y(908.956913)
X(103.925688) Y(908.783725)
X(156.907848) Y(909.873488)
X(207.592825) Y(903.645446)
X(255.010632) Y(903.763892)
X(303.649118) Y(902.609045)
X(354.959703) Y(906.817399)
X(402.773403) Y(905.243798)
X(451.173803) Y(901.598453)
X(500.468064) Y(909.707314)
X(550.038604) Y(901.785800)
X(606.128668) Y(900.813696)
X(658.818965) Y(907.196202)
X(709.663900) Y(905.076355)
X(753.004037) Y(905.495006)
X(809.308187) Y(905.207614)
X(852.672070) Y(908.773988)
X(903.719187) Y(900.013833)
X(952.476850) Y(903.182335)
X(952.503982) Y(954.833935)
X(903.917969) Y(952.421786)
X(859.758839) Y(959.325612)
X(805.964331) Y(951.175256)
X(755.682176) Y(952.465569)
X(704.246630) Y(951.076177)
X(653.041987) Y(950.753591)
X(601.024138) Y(951.563833)
X(558.428549) Y(958.180333)
X(501.390727) Y(954.269044)
X(457.781716) Y(958.442350)
X(404.530942) Y(954.939578)
X(359.227566) Y(952.940767)
X(302.164573) Y(951.660478)
X(256.756891) Y(952.448895)
X(209.661474) Y(957.918796)
X(159.918903) Y(953.767413)
X(108.806781) Y(959.450268)
X(54.445873) Y(953.361023)
X(8.587775) Y(954.585032)
dwell 100
Gather.Enable=0
close
&1
b2r

8
python/shapepath.py
View File

@@ -615,6 +615,7 @@ if __name__=='__main__':
#sp.plot_gather()
#return
fn='/tmp/shapepath'
#fn='PBMotionAnalyzer/records/rand50um_25Hz'
#sp.setup_coord_trf()
#sp.points=np.zeros((2,2))
@@ -635,7 +636,7 @@ if __name__=='__main__':
#sp.gen_grid_points(w=100,h=100,pitch=50,rnd=.2)
#setup_gather(self, acq_per=1) #Gather.MaxLines=116508 580pts
#sp.setup_gather(acq_per=1) #Gather.MaxLines=116508 580pts
sp.setup_gather(acq_per=2)
#setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
#sp.setup_sync() #no sync at all
@@ -649,7 +650,8 @@ if __name__=='__main__':
#sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
sp.gen_grid_points(w=20,h=20,pitch=10,rnd=0);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
#sp.gen_grid_points(w=30,h=30,pitch=50,rnd=0.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
sp.gen_rand_points(n=400, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40)
#>>>setup gather and sync<<<
@@ -663,7 +665,7 @@ if __name__=='__main__':
sp.run()
trigger(0.5)
sp.gather_upload(fnRec=fn+'.npz')
sp.plot_gather(mode=8)
sp.plot_gather(mode=11)
# cfg={"points": [[100,523],[635,632],[756,213]],"sequencer":[sort_points,move_trj+')']}