def _update_speed(self):
for i in range(len(self._direction_down)):
if self._direction_down[i] != 0:
if self._speed[i] == 0:
self._speed[i] = self._direction_down[i] * self._min_speed
else:
self._speed[i] = self._speed[i] * self._accel_factor
if abs(self._speed[i]) >= self._max_speed:
self._speed[i] = sign(self._speed[i]) * self._max_speed
else:
self._speed[i] = self._speed[i] / self._decel_factor
if abs(self._speed[i]) < self._min_speed:
self._speed[i] = 0
if self._speed != [0, 0, 0]:
self._step_done = True
self._instrument.set_speed(self._speed)
if not self._moving:
self._instrument.start()
self._moving = True
return True
else:
self._instrument.stop()
self._moving = False
return False
return ret
def _update_speed(self):
for i in range(len(self._direction_down)):
if self._direction_down[i] != 0:
if self._speed[i] == 0:
self._speed[i] = self._direction_down[i] * self._min_speed
else:
self._speed[i] = self._speed[i] * self._accel_factor
if abs(self._speed[i]) >= self._max_speed:
self._speed[i] = sign(self._speed[i]) * self._max_speed
else:
self._speed[i] = self._speed[i] / self._decel_factor
if abs(self._speed[i]) < self._min_speed:
self._speed[i] = 0
if self._speed != [0, 0, 0]:
self._step_done = True
self._instrument.set_speed(self._speed)
if not self._moving:
self._instrument.start()
self._moving = True
return True
else:
self._instrument.stop()
self._moving = False
return False
return ret
def _do_single_step(self):
for i in range(len(self._direction_down)):
if self._direction_down[i] != 0:
self._instrument.step(i, sign(self._direction_down[i]))
def move_abs(posins, moveins, newpos, startstep=4, maxstep=128, minstep=1, delay=0.05, channel_ofs=0):
"""
move_abs, generic function to control read-out/positioner combo
Input:
posins: position reading instrument (should implement 'get_position')
moveins: position control instrument (should implement 'step')
newpos: new position vector, the length of this vector sets which
channels will be used.
startstep: start steps to use
maxstep: maximum steps
minstep: minimum steps for fine position
delay: time delay after each step
channel_ofs: if channels do not start counting at zero, change this
"""
channels = len(newpos)
pos = posins.get_position()
delta = [newpos[i] - pos[i] for i in range(channels)]
dist = [abs(delta[i]) for i in range(channels)]
hold = [False for i in range(channels)]
increase_steps = True
print 'move_abs(): start pos = %r, delta = %r, dist = %r' % \
(repr(pos), repr(delta), repr(dist))
steps = [-misc.sign(delta[i]) * startstep for i in range(channels)]
j = 0
while True and j < 1000:
# Move
for i in range(channels):
if not hold[i]:
moveins.step(i + channel_ofs, steps[i])
time.sleep(delay)
pos2 = posins.get_position()
delta2 = [newpos[i] - pos2[i] for i in range(channels)]
dist2 = [abs(delta2[i]) for i in range(channels)]
# print 'move_abs(): pos = %r, delta2 = %r' % \
# (repr(pos2), repr(delta2))
if increase_steps:
for i in range(channels):
if not hold[i]:
if misc.sign(delta2[i]) != misc.sign(delta[i]):
hold[i] = True
elif abs(steps[i]) != maxstep:
steps[i] = misc.sign(delta2[i]) * min(abs(steps[i]) * 2, maxstep)
# print 'move_abs(): increasing stepsize for ch%d to %f' % (i, steps[i])
if _all_true(hold):
increase_steps = False
hold = [False for i in range(channels)]
# Immediately reverse if we moved too far
if not increase_steps:
for i in range(channels):
if not hold[i]:
if misc.sign(delta2[i]) != misc.sign(delta[i]):
if abs(steps[i]) == minstep:
hold[i] = True
else:
steps[i] = int(misc.sign(delta2[i]) * max(round(abs(steps[i]) / 2), minstep))
# print 'move_abs(): decreasing stepsize for ch%d to %f' % (i, steps[i])
if _all_true(hold):
print 'Moved to position!'
break
# Remember relative position
delta = delta2
j += 1
def _do_single_step(self):
for i in range(len(self._direction_down)):
if self._direction_down[i] != 0:
self._instrument.step(i, sign(self._direction_down[i]))
def move_abs(posins, moveins, newpos, startstep=4, maxstep=128, minstep=1, delay=0.05, channel_ofs=0):
"""
move_abs, generic function to control read-out/positioner combo
Input:
posins: position reading instrument (should implement 'get_position')
moveins: position control instrument (should implement 'step')
newpos: new position vector, the length of this vector sets which
channels will be used.
startstep: start steps to use
maxstep: maximum steps
minstep: minimum steps for fine position
delay: time delay after each step
channel_ofs: if channels do not start counting at zero, change this
"""
channels = len(newpos)
pos = posins.get_position()
delta = [newpos[i] - pos[i] for i in range(channels)]
dist = [abs(delta[i]) for i in range(channels)]
hold = [False for i in range(channels)]
increase_steps = True
print 'move_abs(): start pos = %r, delta = %r, dist = %r' % \
(repr(pos), repr(delta), repr(dist))
steps = [-misc.sign(delta[i]) * startstep for i in range(channels)]
j = 0
while True and j < 1000:
# Move
for i in range(channels):
if not hold[i]:
moveins.step(i + channel_ofs, steps[i])
time.sleep(delay)
pos2 = posins.get_position()
delta2 = [newpos[i] - pos2[i] for i in range(channels)]
dist2 = [abs(delta2[i]) for i in range(channels)]
# print 'move_abs(): pos = %r, delta2 = %r' % \
# (repr(pos2), repr(delta2))
if increase_steps:
for i in range(channels):
if not hold[i]:
if misc.sign(delta2[i]) != misc.sign(delta[i]):
hold[i] = True
elif abs(steps[i]) != maxstep:
steps[i] = misc.sign(delta2[i]) * min(abs(steps[i]) * 2, maxstep)
# print 'move_abs(): increasing stepsize for ch%d to %f' % (i, steps[i])
if _all_true(hold):
increase_steps = False
hold = [False for i in range(channels)]
# Immediately reverse if we moved too far
if not increase_steps:
for i in range(channels):
if not hold[i]:
if misc.sign(delta2[i]) != misc.sign(delta[i]):
if abs(steps[i]) == minstep:
hold[i] = True
else:
steps[i] = int(misc.sign(delta2[i]) * max(round(abs(steps[i]) / 2), minstep))
# print 'move_abs(): decreasing stepsize for ch%d to %f' % (i, steps[i])
if _all_true(hold):
print 'Moved to position!'
break
# Remember relative position
delta = delta2
j += 1
