tuning Servo Parameters of XY stage without load and horizontal on the table

python/shapepath.py

@@ -121,6 +121,7 @@ class ShapePath:
         pts=np.array([xx.reshape(-1),yy.reshape(-1)],dtype=np.float).transpose()*pitch
         if rnd != 0:
           pts+=(np.random.rand(pts.shape[0],2)*(rnd*pitch))
+        pts[:,0]+=500
         self.points=pts
 
     def gen_prog(self,prgId=2,file=None,host=None,mode=0,**kwargs):
@@ -307,6 +308,10 @@ class ShapePath:
       #rec=Motor[1].ActPos,Motor[2].ActPos,Motor[3].ActPos,Motor[1].DesPos,Motor[2].DesPos,Motor[3].DesPos
       #res=rot.ActPos,y.ActPos,x.ActPos,rot.DesPos,y.DesPos,x.DesPos
       #idx     0        1        2          3        4        5
+      ofsy=-rec[0,4]+pts[0,1]
+      ofsx=-rec[0,5]+pts[0,0]
+      rec[:,(1,4)]+=ofsy
+      rec[:,(2,5)]+=ofsx
       if fnOut:
         # time base:
         # Gather.Period=10