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calibrating 5Cam in ID lab

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This commit is contained in:
zamofing_t
2018-05-29 14:38:58 +02:00
parent c889da80aa
commit db8e9e8636
6 changed files with 119 additions and 54 deletions
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27
cfg/MX3_coordTrf.py
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@@ -56,17 +56,19 @@ Motor[4].MaxSpeed=Motor[4].JogSpeed
Motor[5].MaxSpeed=Motor[5].JogSpeed
open forward
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
//define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
r=$height/$width
scl=$exc/$sqrt2
S1=scl*sin(AA1*$camSf)
S2=scl*sin(AA2*$camSf)
S3=scl*sin(AA3*$camSf)
S4=scl*sin(AA4*$camSf)
S5=scl*sin(AA5*$camSf)
S1=scl*cos(AA1*$camSf)
S2=scl*cos(AA2*$camSf)
S3=scl*cos(AA3*$camSf)
S4=scl*cos(AA4*$camSf)
S5=scl*cos(AA5*$camSf)
//send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,AA1,AA2,AA3,AA4,AA5
//send 1"fwd_inp(%f) %f %f %f %f %f\\n",D0,S1,S2,S3,S4,S5
@@ -85,7 +87,8 @@ open forward
close
open inverse
define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
//define(AA1='L1',AA2='L2',AA3='L3',AA4='L4',AA5='L5')
define(AA1='L2',AA2='L1',AA3='L4',AA4='L5',AA5='L3')
define(r='L6',scl='L7')
define(S1='L11',S2='L12',S3='L13',S4='L14',S5='L15')
define(X='C6',Y='C7',U='C3',V='C4',W='C5')
@@ -104,11 +107,11 @@ open inverse
S5= .5*$sqrt2*Y -.25*$sqrt2*U +.25*$sqrt2*W
scl=$sqrt2/$exc
AA1=asin(S1*scl)/$camSf
AA2=asin(S2*scl)/$camSf
AA3=asin(S3*scl)/$camSf
AA4=asin(S4*scl)/$camSf
AA5=asin(S5*scl)/$camSf
AA1=acos(S1*scl)/$camSf
AA2=acos(S2*scl)/$camSf
AA3=acos(S3*scl)/$camSf
AA4=acos(S4*scl)/$camSf
AA5=acos(S5*scl)/$camSf
//send 1"inv_res %f %f %f %f %f\\n",AA1,AA2,AA3,AA4,AA5