def test_opt():
from scipy.optimize import fmin_tnc
x, y = a3200.xyposition()
fmin_tnc(value_and_gradient, (x,y), None,
[(lambda: abs(keyence.measure(1, blocking=True) -
keyence.measure(2, blocking=False))), 0.001],
False, [(x-.008,x+.008), (y-.008,y+.008)],)
def find_center(radius=4000):
keyence.set_samples(4, 1)
path = follow_edge(.04)
a3200.xymove(numpy.average(path, 0))
a3200.z.enable()
a3200.z.relmove(-radius)
a3200.z.disable()
spiral_search((lambda: keyence.measure() is None), 0.005)
spiral_search((lambda: abs(keyence.measure(1) - keyence.measure(2) < 10)), 0.001)
def step(self, pt):
"""Measure one point and return (time, z-value)."""
a3200.xymove(pt, velocity=600, blocking=True)
z = keyence.measure(blocking=True)
if self.gantry and z:
z -= self.gantry.error(pt)
return (time.time(), z if z else numpy.nan)
def follow_edge(step=1):
a3200.x.freerun(1)
while keyence.measure() is not None: time.sleep(.01)
a3200.x.halt()
a3200.x.relmove(-step/2)
origin, xy = a3200.xyposition(), numpy.array([0, 0])
heading, path, i, dark = 0, [], 0, False
while tuple(xy) not in path[:-10]:
ldark, dark = dark, (keyence.measure(blocking=True) is None)
if dark != ldark: i = 0
if i%2 or not i: heading = (heading + (-1 if dark else 1)) % 4
xy += [(1,0),(0,1),(-1,0),(0,-1)][heading]
a3200.xymove(origin + xy*step)
path.append(tuple(xy))
i += 1
return origin + numpy.array(path, dtype='float')*step
def script():
print('\nWelcome to interactive object scanner')
print('Direct questions to [email protected]\n')
print('Please power on XYZ stage and Keyence sensor')
raw_input('Press enter when finished\n')
print('Initializing system...')
initialize()
print('Initialization finished.\n')
if raw_input('Would you like to home the X & Y axes? (Y/n) ') in ['N','n']:
print('XY coordinates may not be consistent.\n')
else:
print('Homing axes...')
home()
print('Axes homed.\n')
print('Opening NView for you to set up the stage:')
print('- determine XY location of object to be scanned')
print('- move Z-axis in range')
print('Press F3 for controls; exit when finished.')
a3200.z.enable()
os.system('NViewMMI')
a3200.z.relmove(keyence.measure() or 0)
a3200.z.disable()
print('NView finished executing.\n')
params = ['minimum x', 'maximum x', 'x increment',
'minimum y', 'maximum y', 'y increment']
read = lambda: [float(raw_input('{0: >12}: '.format(p))) for p in params]
def to_points(raster):
return dstack(meshgrid(arange(*raster[:3]),
arange(*raster[3:]))).reshape((-1,2))
if raw_input('Is this to be a tiled scan? (y/N) ').lower() == 'y':
print('Please enter these parameters to describe the tile origins:')
tiles = to_points(read())
print('Please enter these parameters for points relative to tiles:')
points = to_points(read())
setup_tiled(tiles, points)
else:
print('Please enter these parameters to describe point locations:')
values = read()
print('\nSetting up scan...')
setup_raster(*values)
print('Ready to scan.\n')
raw_input('Press enter to scan.')
print('Scanning... ')
run_scan()
print('Scan finished.\n')
print('Closing hardware...')
close()
print('Hardware closed.\n')
a = raw_input('Would you like to analyze the data now? (Y/n) ')
if a.lower() != 'n':
process_data()
print('Plot is in background window.\n')
path = raw_input('Path to save data: {0}\\'.format(os.getcwd()))
print('Saving data...')
save_results(path)
print('Data saved.\n')
