def _accelerationToEnc(self,acceleration):
""" convert between acceleration in mm/s/s (angular in degrees/s/s where applicable) and appropriate encoder units"""
return round(acceleration*c.getMotorScalingFactors(self.controllerType,self.stageType)["acceleration"])
def _encToPosition(self,enc):
""" convert between position in mm (or angle in degrees where applicable) and appropriate encoder units"""
return enc/c.getMotorScalingFactors(self.controllerType,self.stageType)["position"]
def _velocityToEnc(self,velocity):
""" convert between velocity in mm/s (angular in degrees/s where applicable) and appropriate encoder units"""
return round(velocity*c.getMotorScalingFactors(self.controllerType,self.stageType)["velocity"])
def _positionToEnc(self,position):
""" convert between position in mm (or angle in degrees where applicable) and appropriate encoder units"""
return round(position*c.getMotorScalingFactors(self.controllerType,self.stageType)["position"])
def _accelerationToEnc(self, acceleration):
""" convert between acceleration in mm/s/s (angular in degrees/s/s where applicable) and appropriate encoder units"""
return round(acceleration * c.getMotorScalingFactors(
self.controllerType, self.stageType)["acceleration"])
def _velocityToEnc(self, velocity):
""" convert between velocity in mm/s (angular in degrees/s where applicable) and appropriate encoder units"""
return round(velocity * c.getMotorScalingFactors(
self.controllerType, self.stageType)["velocity"])
def _encToPosition(self, enc):
""" convert between position in mm (or angle in degrees where applicable) and appropriate encoder units"""
return enc / c.getMotorScalingFactors(self.controllerType,
self.stageType)["position"]
def _positionToEnc(self, position):
""" convert between position in mm (or angle in degrees where applicable) and appropriate encoder units"""
return round(position * c.getMotorScalingFactors(
self.controllerType, self.stageType)["position"])
