helicalscan commissioned at ESB_MX!

Readme.md

@@ -1014,4 +1014,41 @@ Gate3[1].Chan[0].UserFlag -> is set to 0 when event triggered (mapped to output
 ```
 
 
+Testing Helical Coord Trf
+-------------------------
+```
 
+B0.3504637004371034 X-13.68414496427224 Y-8.029999999998836 Z-1483.096457761122
+
+
+&1p  ->this will trigger:forward kinematic
+cpx pmatch  ->this will trigger:forward kinematic
+
+cpx ;linear rel; X0Y0Z0B0
+cpx ;linear abs; X-13.68 Y-8.03 Z-1483.1 B0.35
+  ->this will trigger: inverse
+
+&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0
+
+
+-1:fwd_inp(0)  0.45 -1103.7 0.350464 -7.98
+-1:fwd_res     -13.5538 -1481 0.350464 -7.98
+
+
+//motors CX CZ RY FY
+//        4  5  3  1
+
+
+&1;cpx abs linear;jog1=0;jog2=0;jog3=0;jog4=0;jog5=0
+
+  def calcParam(self,x=((.468,-.627,-.523),(.357,-1.349,.351)),
+                     y=(.557,-.008),
+                     z=((1.73,.93,2.129),(2.13,.03,1.103))):
+
+
+&1;cpx abs linear;jog1=557;jog3=0;jog4=468;jog5=1730
+
+&1;cpx abs linear;jog1=-8;jog3=240000;jog4=2129;jog5=1.73
+
+
+caQtDM -macro "NAME=ESB-MX-CAM,CAMNAME=ESB-MX-CAM" /sf/controls/config/qt/Camera/CameraMiniView