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"])