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Updated move() to try a few times for the last 2um of motion.

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vonka_j
2022-09-23 17:22:59 +02:00
parent 4ae527f451
commit 0894be1f8f
1 changed files with 26 additions and 10 deletions
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28
attocube.py
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@ -1,3 +1,4 @@
from distutils.command.install_egg_info import to_filename
from re import S from re import S
import time import time
import subprocess import subprocess
@ -246,7 +247,7 @@ class AttocubeAxis(Adjustable):
# 2. Soft epics limits # 2. Soft epics limits
def move(self, val, relative=False, wait=True, ignore_limits=False, confirm_move=True, timeout=300.0, pos_check_delay=0.15, target_gnd=None): def move(self, val, relative=False, wait=True, ignore_limits=True, confirm_move=True, timeout=300.0, pos_check_delay=0.15, target_gnd=None, move_attempts = 5, verbose = False, tolerance=0.3):
""" """
moves Attocube drive to position (emulating pyepics Motor class) moves Attocube drive to position (emulating pyepics Motor class)
@ -255,10 +256,12 @@ class AttocubeAxis(Adjustable):
val value to move to (float) [Must be provided] val value to move to (float) [Must be provided]
relative move relative to current position (T/F) [F] relative move relative to current position (T/F) [F]
wait whether to wait for move to complete (T/F) [F] wait whether to wait for move to complete (T/F) [F]
ignore_limits try move without regard to limits (T/F) [F] ignore_limits try move without regard to limits (no epics limits implemented yet) (T/F) [T]
confirm_move try to confirm that move has begun (T/F) [F] confirm_move try to confirm that move has begun (T/F) [F]
timeout max time for move to complete (in seconds) [300] timeout max time for move to complete (in seconds) [300]
pos_check_delay delay before checkig motor in position (in seconds) [0.1] pos_check_delay delay before checkig motor in position (in seconds) [0.1]
move_attempts how many times should the move be attempted if not in limits (attocube often needs to be poked a few times for the last 1um) [5]
tolerance when to consider target destination reached (in microns) [0.3]
return values: return values:
============== ==============
@ -335,14 +338,27 @@ class AttocubeAxis(Adjustable):
if time.time() > tout: if time.time() > tout:
return TIMEOUT return TIMEOUT
time.sleep(pos_check_delay) # Wait before checking if target value reached. It's necessary as sometimes this PV takes a while to set for the new target value. # Wait before checking if target value reached. It's necessary as sometimes this PV takes a while to set for the new target value.
while self.is_at_target() == False and time.time() <= tout: time.sleep(pos_check_delay)
ca.poll(evt=1.0e-2)
if self.is_at_target(): while self.is_at_target(tolerance=tolerance) == False and time.time() <= tout:
# If the value is near the last 2um. Move the cube to setpoint a few more times to get to the right position.
if self.is_at_target( tolerance = 2):
for attempt in range(move_attempts):
if verbose:
print(f'move attempt: {attempt+1}')
self.pvs.move.put(1, wait=True)
time.sleep(2)
if self.is_at_target(tolerance=tolerance):
if verbose:
print(f'Move finished. Had to poke the cube {attempt+1} times to get there though.')
return SUCCESS return SUCCESS
print('Position reached within 2um, but not better.')
return TIMEOUT
if self.is_at_target(tolerance=tolerance):
return SUCCESS
return UNKNOWN_ERROR return UNKNOWN_ERROR