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wip(3)

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zamofing_t
2024-11-25 14:04:26 +01:00
parent bea723d7f8
commit f545812bc1
2 changed files with 99 additions and 64 deletions
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125
python/shapepath.py
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@@ -852,15 +852,15 @@ class ShapePath(MotionBase):
self.mot_pts=(np.hstack((pt, np.ones((pt.shape[0], 1))))*np.asmatrix(trf)).A # pt*trf
sx,sy=kwargs['ssz'] #section size (in wells)
try:
tmx,tmy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
tsx,tsy=kwargs['smv'] #time(in num of shots) to move to next section (horiz/vert)
except KeyError as e:
tmx=sx-1
tmy=sy+1
tsx=sx-1
tsy=sy
try:
sdl=kwargs['sdelay']
tsd=kwargs['sdelay']
except KeyError as e:
sdl=sx*sy
sdl+=1-sx*sy # sdl are shots to wait at position #(6)
tsd=sx*sy
tsd+=1-sx*sy # sdl are shots to wait at position #(6)
prg+=f' linear abs\n X{ox-px:g} Y{oy-py:g}\n' # start one position out of grid
prg+=' dwell 10\n'
try: prg+=self.sync_prg
@@ -1030,17 +1030,18 @@ enable plc 2
vsx=px/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
vsy=py/(pt2pt_time)*scale*CoordFeedTime # scaling for Deltatau
g=kwargs['grid']
ox,oy=g['pos'] #origin position in um (or counts if scaled)
px,py=g['pitch'] #pitch to next position in um (or 1 if scaled)
nx,ny=g['count'] #total count of wells
sx,sy=kwargs['ssz'] #section size (in wells)
#g=kwargs['grid']
#ox,oy=g['pos'] #origin position in um (or counts if scaled)
#px,py=g['pitch'] #pitch to next position in um (or 1 if scaled)
#nx,ny=g['count'] #total count of wells
#sx,sy=kwargs['ssz'] #section size (in wells)
#tsx, tsy, tsd #time scale to pvt move to (next horiz|next vert| after position #6)
tx,ty=nx//sx,ny//sy #total sections
#variables
cx,cy,dx,dy,n,k,sx,sy,tx,ty,vsx,vsy,vx,vy,x,x0,y,y0=map(lambda x: f'L{x}',range(16))
cx,cy,dx,dy,n,k,t,vx,vy,x,x0,y,y0=map(lambda x: f'L{x}',range(13))
# replace in python code of hit_and_return.py setup_motion:
# (cx|cy|dx|dy|n|k|sx|sy|tx|ty|vsx|vsy|vx|vy|x|x0|y|y0) -> {\1}
# (cx|cy|dx|dy|n|k|sx|sy|tsd|tsx|tsy|tx|ty|vsx|vsy|vx|vy|x|x0|y|y0) -> {\1}
# if ([^:]*): -> if \(\1\){{
# else: -> }}else{{
# elif ([^:]*): -> }}else if \(\1\){{
@@ -1048,80 +1049,94 @@ enable plc 2
prg+=f'''\
//mode 6: hit-and-return pvt motion
{k}=-1 # key position
{cx},{cy}=0,0 # section counter
{x0},{y0},{n}=0,0,0 # counter well in region
{dx},{dy}=0,1 # motion pitch
{vsx}={vsy}=1 # scaled velocity
{vx},{vy}=0,{vsy} # scaled velocity
{t}=1 // motion pvt tome scaling
{k}=-1 // key position
{cx}=0;{cy}=0 // section counter
{x0}=0;{y0}=0;{n}=0 // counter well in region
{dx}=0;{dy}=1 // motion pitch
{vx}=0;{vy}={vsy} // scaled velocity
pvt{pt2pt_time} abs
while(1){{:
if ({cy}%2==0){{ # even rows
while(1){{
if ({cy}%2==0){{ // even rows
{x}={sx}*{cx}+{x0};{y}={sy}*{cy}+{y0}
}}else{{ # odd rows
}}else{{ // odd rows
{x}=({tx}-{cx})*{sx}-{x0}-1;{y}={sy}*{cy}+{y0}
{vx}=-{vx}
}}
{x0}+={dx};{y0}+={dy}
//send 1"A:move(%d) X%g:%g Y%g:%g",{k},{x},{vx},{y},{vy}
X({x}):({vx}) Y({y}):({vy})
if ({k}>=0){{ #if keypoint not directly followed by an other keypoint, define future velocity
//send 1"A:move(%d) X%g:%g Y%g:%g",{k},{ox}+{x}*{px},{vx},{oy}+{y}*{py},{vy}
X({ox}+{x}*{px}):({vx}) Y({oy}+{y}*{py}):({vy})
if ({t}!=1){{
pvt{pt2pt_time} abs;{t}=1
}}
if ({k}>=0){{ //if keypoint not directly followed by an other keypoint, define future velocity
if ({k}==0 || {k}==4){{
{vx},{vy}=0,{vsy}
{vx}=0;{vy}={vsy}
}}else if ({k}==2){{
{vx},{vy}=0,-{vsy}
{vx}=0;{vy}=-{vsy}
}}else if ({k}==5){{
{vx},{vy}=-{vsx},0
{vx}=-{vsx};{vy}=0
}}else if ({k}==6){{
{n}+=1
if ({tsd}!=1) {{
pvt{pt2pt_time*tsd} abs;{t}={tsd}
}}
}}else if ({k}==7){{
//send 1"next h section"
{cx}+=1
{x0},{y0},{n},{dx},{dy}=0,0,0,0,0
{x0}=0;{y0}=0;{n}=0;{dx}=0;{dy}=0
if ({tsx}!=1) {{
pvt{pt2pt_time*tsx} abs;{t}={tsx}
}}
}}else if ({k}==8){{
//send 1"next v section"
{cx}=0;{cy}+=1
{x0},{y0},{n},{dx},{dy}=0,0,0,0,0
{x0}=0;{y0}=0;{n}=0;{dx}=0;{dy}=0
if ({cy}>={ty}){{
//send 1"finished whole grid"
break
}}
if ({tsy}!=1) {{
pvt{pt2pt_time*tsy} abs;{t}={tsy}
}}
}}
//send 1"after keypoint %d: %g|%g",{k},{vx},{vy}
{k}=-1
}}
if ({y0}=={sy}-1){{
if ({dy}==1){{ #(1)
{dx},{dy}=1,0
{vx},{vy}={vsx}/2,{vsy}/2
if ({dy}==1){{ //(1)
{dx}=1;{dy}=0
{vx}={vsx}/2;{vy}={vsy}/2
}}else{{
{k},{dx},{dy}=2,0,-1#(2)
{vx},{vy}={vsx}/2,-{vsy}/2
{k}=2;{dx}=0;{dy}=-1 //(2)
{vx}={vsx}/2;{vy}=-{vsy}/2
}}
}}else if ({y0}==1 && {x0}>0 && {x0}<{sx}-1){{
if ({dy}==-1){{ #(3)
{dx},{dy}=1,0
{vx},{vy}={vsx}/2,-{vsy}/2
if ({dy}==-1){{ //(3)
{dx}=1;{dy}=0
{vx}={vsx}/2;{vy}=-{vsy}/2
}}else{{
{k},{dx},{dy}=4,0,1 #(4)
{vx},{vy}={vsx}/2,{vsy}/2
{k}=4;{dx}=0;{dy}=1 //(4)
{vx}={vsx}/2;{vy}={vsy}/2
}}
}}else if ({y0}==0){{
if ({n}==1 && {x0}==1){{ #(7 or 8)
if ({n}==1 && {x0}==1){{ //(7 or 8)
if ({cx}<{tx}-1){{
{k},{dx},{dy}=7,-1,0
{vx},{vy}=0,0
}}else{{ #(8)
{k},{dx},{dy}=8,{sx}-1,{sy}
{vx},{vy}=0,0
{k}=7;{dx}=-1;{dy}=0
{vx}=0;{vy}=0
}}else{{ //(8)
{k}=8;{dx}={sx}-1;{dy}={sy}
{vx}=0;{vy}=0
}}
}}else if ({x0}==1){{ #(6)
{k},{dx},{dy}=6,-1,0
{vx},{vy}=-{vsx},0
}}else if ({x0}==0){{ #(0)
{k},{dx},{dy}=0,0,1
{vx},{vy}=0,{vsy}
}}else if ({x0}=={sx}-1){{ #(5)
{k},{dx},{dy}=5,-1,0
{vx},{vy}=-{vsx}/2,-{vsy}/2
}}else if ({x0}==1){{ //(6)
{k}=6;{dx}=-1;{dy}=0
{vx}=-{vsx};{vy}=0
}}else if ({x0}==0){{ //(0)
{k}=0;{dx}=0;{dy}=1
{vx}=0;{vy}={vsy}
}}else if ({x0}=={sx}-1){{ //(5)
{k}=5;{dx}=-1;{dy}=0
{vx}=-{vsx}/2;{vy}=-{vsy}/2
}}
}}
}}