class TestMotorPVT(unittest.TestCase):
def setUp(self):
self.o = MotorInfo(
cs_axis="X",
cs_port="BRICK1CS2",
acceleration=2.0, # mm/s/s
resolution=0.001,
offset=0.0,
max_velocity=1,
current_position=32.0,
scannable="t1x",
velocity_settle=0.0,
units="mm",
user_high_limit=100.0,
user_low_limit=-100.0,
dial_high_limit=100.0,
dial_low_limit=-100.0,
)
def check_distance(self, d, times, velocities):
# sum the area of two trapezoids z1, z2 and a rectangle r
z1 = (velocities[0] + velocities[1]) / 2 * times[1]
st = self.o.velocity_settle
if (len(times) == 3 and st == 0) or (len(times) == 4 and st > 0):
r = 0
z2 = (velocities[1] + velocities[2]) / 2 * (times[2] - times[1])
else:
r = velocities[1] * (times[2] - times[1])
z2 = (velocities[2] + velocities[3]) / 2 * (times[3] - times[2])
sd = velocities[-1] * (times[-1] - times[-2]) if st > 0 else 0
assert np.isclose(z1 + z2 + r + sd, d)
def test_turnaround(self):
# 0_| \
# | \
v1 = 0.1
v2 = -0.1
distance = 0.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.05, 0.1]).all()
assert np.isclose(velocity_array, [v1, 0, v2]).all()
def test_settle(self):
# 0_| \
# | \
v1 = 0.05
v2 = -0.05
distance = 0.1
self.o.velocity_settle = 0.1
p = self.o.make_velocity_profile(v1, v2, distance, 0.0, 0.001)
p.quantize()
time_array, velocity_array = p.make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.174, 0.244, 0.468, 0.568]).all()
assert np.isclose(velocity_array,
[v1, 0.3949814126, 0.3949814126, v2, v2]).all()
def test_turnaround_invert(self):
# 0_| /
# | /
v1 = -0.1
v2 = 0.1
distance = 0.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert time_array == pytest.approx([0.0, 0.05, 0.1])
assert velocity_array == pytest.approx([v1, 0, v2])
def test_turnaround_with_min_time(self):
# 0_| \___
# | \
v1 = 0.1
v2 = -0.1
distance = 0
min_time = 2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.05, 1.95, 2.0]).all()
assert np.isclose(velocity_array, [v1, 0, 0, v2]).all()
def test_turnaround_with_min_time_invert(self):
# 0_| ___/
# | /
v1 = -0.1
v2 = 0.1
distance = 0
min_time = 2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.05, 1.95, 2.0]).all()
assert np.isclose(velocity_array, [v1, 0, 0, v2]).all()
def test_step_move_no_vmax(self):
# 0_| /\
v1 = 0
v2 = 0
distance = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.5, 1.0]).all()
assert np.isclose(velocity_array, [v1, 1, 0]).all()
def test_step_move_no_vmax_min_time(self):
# | _
# 0_| / \
v1 = 0
v2 = 0
distance = 0.125
min_time = 0.5004166666666666
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(
time_array, [0.0, 0.24, 0.26041666666667, 0.50041666666667]).all()
assert np.isclose(velocity_array, [v1, 0.48, 0.48, v2]).all()
def test_step_move_no_vmax_min_time_invert(self):
# 0_|
# | \_/
v1 = 0
v2 = 0
distance = -0.125
min_time = 0.5004166666666666
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
assert np.isclose(
time_array, [0.0, 0.24, 0.26041666666667, 0.50041666666667]).all()
assert np.isclose(velocity_array, [v1, -0.48, -0.48, v2]).all()
def test_step_move_at_vmax(self):
# | __
# 0_| / \
v1 = 0
v2 = 0
distance = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.5, 1.0, 1.5]).all()
assert np.isclose(velocity_array, [v1, 1, 1, 0]).all()
def test_step_move_restricted(self):
# | __
# 0_| / \
v1 = 0
v2 = 0
distance = 1.02
min_time = 5.2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.1, 5.1, 5.2]).all()
assert np.isclose(velocity_array, [v1, 0.2, 0.2, v2]).all()
def test_step_move_restricted_invert(self):
# 0_|
# | \__/
v1 = 0
v2 = 0
distance = -1.02
min_time = 5.2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
assert np.isclose(time_array, [0.0, 0.1, 5.1, 5.2]).all()
assert np.isclose(velocity_array, [v1, -0.2, -0.2, v2]).all()
def test_step_move_at_vmax_invert(self):
# 0_|
# | \__/
v1 = 0
v2 = 0
distance = -1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
assert np.isclose(time_array, [0.0, 0.5, 1.0, 1.5]).all()
assert np.isclose(velocity_array, [v1, -1, -1, 0]).all()
def test_interrupted_move(self):
# | /\
# 0_|
v1 = 0.5
v2 = 0.5
distance = 0.375
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.25, 0.5]).all()
assert np.isclose(velocity_array, [v1, 1, v2]).all()
def test_interrupted_move_min_time(self):
# 0_| \/
v1 = 0.5
v2 = 0.5
distance = 0.125
min_time = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.25, 0.5]).all()
assert np.isclose(velocity_array, [v1, 0, v2]).all()
def test_interrupted_move_min_time_at_zero(self):
# 0_| \__/
v1 = 0.5
v2 = 0.5
distance = 0.125
min_time = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.25, 0.75, 1.0]).all()
assert np.isclose(velocity_array, [v1, 0, 0, v2]).all()
def test_interrupted_move_retracing_vmax(self):
# 0_| \ /
# | \/
v1 = 0.5
v2 = 0.5
distance = 0
min_time = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.5, 1.0]).all()
assert np.isclose(velocity_array, [v1, -0.5, v2]).all()
def test_interrupted_move_retracing_further_limited(self):
# 0_| \ /
# | \__/
v1 = 0.5
v2 = 0.5
distance = -0.25
min_time = 1.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.5, 1.0, 1.5]).all()
assert np.isclose(velocity_array, [v1, -0.5, -0.5, v2]).all()
def test_interrupted_move_retracing_further_at_vmax(self):
# 0_| \ /
# | \__/
v1 = 0.5
v2 = 0.5
distance = -0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.75, 0.875, 1.625]).all()
assert np.isclose(velocity_array, [v1, -1, -1, v2]).all()
def test_interrupted_move_retracing_further_at_vmax_invert(self):
# | __
# 0_| / \
# | / \
v1 = -0.5
v2 = -0.5
distance = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0).make_arrays()
self.check_distance(distance, time_array, velocity_array)
assert np.isclose(time_array, [0.0, 0.75, 0.875, 1.625]).all()
assert np.isclose(velocity_array, [v1, 1, 1, v2]).all()
def test_small_distance(self):
# 0_|
# | \__/
# From I14 at the top of a spiral scan
v1 = 0.0
v2 = 0.0
distance = -7.0649411427099997e-05
min_time = 0.11896513748900001
self.o.acceleration = 0.02
self.o.max_velocity = 0.01
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time).make_arrays()
self.check_distance(distance, time_array, velocity_array)
# assert np.isclose(time_array, [0.0, 0.059482568744500003, min_time]
# assert np.isclose(velocity_array, [v1, -0.00118965137489, v2]
# todo see above.
# NOTE slight discrepancy with Tom's original make_velocity_profile
# I believe this is just rounding
assert np.isclose(
time_array,
[0.0, 0.05709396808948, 0.06187116939952, min_time]).all()
assert np.isclose(
velocity_array,
[v1, -0.00114187936179, -0.00114187936179, v2]).all()
class TestMotorPVT(unittest.TestCase):
def setUp(self):
self.o = MotorInfo(
cs_axis="X",
cs_port="BRICK1CS2",
acceleration=2.0, # mm/s/s
resolution=0.001,
offset=0.0,
max_velocity=1,
current_position=32.0,
scannable="t1x",
velocity_settle=0.0)
def test_turnaround(self):
# 0_| \
# | \
v1 = 0.1
v2 = -0.1
distance = 0.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.05, 0.1]
assert velocity_array == [v1, 0, v2]
def test_turnaround_invert(self):
# 0_| /
# | /
v1 = -0.1
v2 = 0.1
distance = 0.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.05, 0.1]
assert velocity_array == [v1, 0, v2]
def test_turnaround_with_min_time(self):
# 0_| \___
# | \
v1 = 0.1
v2 = -0.1
distance = 0
min_time = 2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.05, 1.95, 2.0]
assert velocity_array == [v1, 0, 0, v2]
def test_turnaround_with_min_time_invert(self):
# 0_| ___/
# | /
v1 = -0.1
v2 = 0.1
distance = 0
min_time = 2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.05, 1.95, 2.0]
assert velocity_array == [v1, 0, 0, v2]
def test_step_move_no_vmax(self):
# 0_| /\
v1 = 0
v2 = 0
distance = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.5, 1.0]
assert velocity_array == [v1, 1, 0]
def test_step_move_no_vmax_min_time(self):
# | _
# 0_| / \
v1 = 0
v2 = 0
distance = 0.125
min_time = 0.5004166666666666
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [
0.0, 0.24000000000000069, 0.26041666666666596, 0.50041666666666662
]
assert velocity_array == [
v1, 0.48000000000000137, 0.48000000000000137, v2
]
def test_step_move_no_vmax_min_time_invert(self):
# 0_|
# | \_/
v1 = 0
v2 = 0
distance = -0.125
min_time = 0.5004166666666666
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [
0.0, 0.24000000000000069, 0.26041666666666596, 0.50041666666666662
]
assert velocity_array == [
v1, -0.48000000000000137, -0.48000000000000137, v2
]
def test_step_move_at_vmax(self):
# | __
# 0_| / \
v1 = 0
v2 = 0
distance = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.5, 1.0, 1.5]
assert velocity_array == [v1, 1, 1, 0]
def test_step_move_restricted(self):
# | __
# 0_| / \
v1 = 0
v2 = 0
distance = 1.02
min_time = 5.2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [
0.0, 0.10000000000000009, 5.0999999999999996, 5.1999999999999993
]
assert velocity_array == [
v1, 0.20000000000000018, 0.20000000000000018, v2
]
def test_step_move_restricted_invert(self):
# 0_|
# | \__/
v1 = 0
v2 = 0
distance = -1.02
min_time = 5.2
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [
0.0, 0.10000000000000009, 5.0999999999999996, 5.1999999999999993
]
assert velocity_array == [
v1, -0.20000000000000018, -0.20000000000000018, v2
]
def test_step_move_at_vmax_invert(self):
# 0_|
# | \__/
v1 = 0
v2 = 0
distance = -1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.5, 1.0, 1.5]
assert velocity_array == [v1, -1, -1, 0]
def test_interrupted_move(self):
# | /\
# 0_|
v1 = 0.5
v2 = 0.5
distance = 0.375
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.25, 0.5]
assert velocity_array == [v1, 1, v2]
def test_interrupted_move_min_time(self):
# 0_| \/
v1 = 0.5
v2 = 0.5
distance = 0.125
min_time = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.25, 0.5]
assert velocity_array == [v1, 0, v2]
def test_interrupted_move_min_time_at_zero(self):
# 0_| \__/
v1 = 0.5
v2 = 0.5
distance = 0.125
min_time = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.25, 0.75, 1.0]
assert velocity_array == [v1, 0, 0, v2]
def test_interrupted_move_retracing_vmax(self):
# 0_| \ /
# | \/
v1 = 0.5
v2 = 0.5
distance = 0
min_time = 1.0
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.25, 0.5, 0.75, 1.0]
assert velocity_array == [v1, 0, -0.5, 0, v2]
def test_interrupted_move_retracing_further_limited(self):
# 0_| \ /
# | \__/
v1 = 0.5
v2 = 0.5
distance = -0.25
min_time = 1.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, min_time)
assert time_array == [0.0, 0.25, 0.5, 1.0, 1.25, 1.5]
assert velocity_array == [v1, 0, -0.5, -0.5, 0, v2]
def test_interrupted_move_retracing_further_at_vmax(self):
# 0_| \ /
# | \__/
v1 = 0.5
v2 = 0.5
distance = -0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.25, 0.75, 0.875, 1.375, 1.625]
assert velocity_array == [v1, 0, -1, -1, 0, v2]
def test_interrupted_move_retracing_further_at_vmax_invert(self):
# | __
# 0_| / \
# | / \
v1 = -0.5
v2 = -0.5
distance = 0.5
time_array, velocity_array = self.o.make_velocity_profile(
v1, v2, distance, 0.0)
assert time_array == [0.0, 0.25, 0.75, 0.875, 1.375, 1.625]
assert velocity_array == [v1, 0, 1, 1, 0, v2]
class TestMotorInfo(unittest.TestCase):
def setUp(self):
self.o = MotorInfo(
cs_axis="X",
cs_port="BRICK1CS2",
acceleration=2.0, # mm/s/s
resolution=0.001,
offset=0.0,
max_velocity=1,
current_position=32.0,
scannable="t1x",
velocity_settle=0.0,
units="mm",
user_high_limit=100.0,
user_low_limit=-100.0,
dial_high_limit=100.0,
dial_low_limit=-100.0,
)
def test_check_position_within_soft_limits_returns_True_for_disabled_limits(
self):
positions = [-25.0, 0.0, 1.35]
# Disable soft limits
self.o.enable_soft_limits = False
for position in positions:
self.assertEqual(
True, self.o.check_position_within_soft_limits(position))
def test_check_position_within_soft_limits_returns_True_for_safe_positions(
self):
# Check with both limits non-zero
positions = [-100.0, -35.35, 0.0, 65, 99.99]
for position in positions:
self.assertEqual(
True, self.o.check_position_within_soft_limits(position))
# Change high limit to zero and re-check
positions = [-100.0, -35.35, 0.0]
self.o.user_high_limit = 0.0
for position in positions:
self.assertEqual(
True, self.o.check_position_within_soft_limits(position))
# Change low limit to zero and re-check (and reset high limit)
positions = [0.0, 65, 99.99]
self.o.user_high_limit = 100.0
self.o.user_low_limit = 0.0
for position in positions:
self.assertEqual(
True, self.o.check_position_within_soft_limits(position))
def test_check_position_within_soft_limits_returns_False_for_unsafe_position(
self):
positions = [-125.0, 100.1, 999.0]
for position in positions:
self.assertEqual(
False, self.o.check_position_within_soft_limits(position))
# Change high limit to zero and re-check
positions = [1e-9, 100.0]
self.o.user_high_limit = 0.0
for position in positions:
self.assertEqual(
False, self.o.check_position_within_soft_limits(position))
# Change low limit to zero and re-check (and reset high limit)
positions = [-1e-9, -10.0]
self.o.user_high_limit = 100.0
self.o.user_low_limit = 0.0
for position in positions:
self.assertEqual(
False, self.o.check_position_within_soft_limits(position))