else:
extra_t = xcalc / vmax
extra_v = np.linspace(vmax, vmax, int(round(extra_t * 1000)))
v_profile = velocity.copy()
v_profile = np.concatenate((v_profile, extra_v))
if extra:
extra_a = np.zeros(int(round(extra_t * 1000)))
accel = np.concatenate((accel, extra_a, -accel))
v_profile = np.concatenate((v_profile, np.flip(velocity)))
x = np.zeros(len(v_profile))
for i, v in enumerate(v_profile):
x[i] = np.trapz(v_profile[:i])
if extra:
return x / 1000, v_profile, accel
return x / 1000
if __name__ == "__main__":
logger = logging.getLogger()
logger.setLevel(logging.INFO)
system = CESystem()
system.load_config()
system.open_controllers()
tm = AutomatedControl.Template()
xyz0 = [20, 20, 3]
xyz1 = [100, 35, 10]
path = SafeMove(system, tm, xyz0, xyz1, visual=True).move()
:param lower_y:
:param right_x:
:param upper_y:
:return:
"""
self.dimensions = [left_x, lower_y, right_x, upper_y]
class AutoSpecial:
pass
if __name__ == "__main__":
import matplotlib.pyplot as plt
import numpy as np
import logging
import os
os.chdir(os.path.abspath('..'))
logger = logging.getLogger()
logger.setLevel(logging.INFO)
system = CESystem()
system.load_config(
config_file=r'E:\Scripts\AutomatedCE\config\TestChip.cfg')
system.open_controllers()
auto = ChipRun(system)
auto.add_method(r'E:\Scripts\AutomatedCE\config\methods-chep.txt')
# auto.set_template()
auto.repetitions = 2
# auto.start_run()