def minimize_fsr(): voltages = [] servocontrol.move_arm(0) servocontrol.move_base(0) for arm_angle in range(0,182,2): servocontrol.move_arm(arm_angle) voltages.append(detector.read_detector()) time.sleep(0.5) servocontrol.move_arm(0) servocontrol.move_base(0) maxvoltage = max(voltages) detector.set_fsr(maxvoltage)
def one_axis_scan(num_scans): '''scans over x''' #detector.reset_fsr() #minimize_fsr() detector.constant_gain() servocontrol.move_arm(0) servocontrol.move_base(0) writer = csvinterface.CSVWriter(([0]), list(range(0,182,2))); for scan_num in range(num_scans): for arm_angle in range(0,182,2): servocontrol.move_arm(arm_angle) writer.add_point(0,arm_angle,detector.read_detector()) #print(detector.read_detector()) time.sleep(0.5) servocontrol.move_arm(0) servocontrol.move_base(0) means_filename, stdev_filename = writer.save_csv() simpleplot.one_axis_plot(means_filename, stdev_filename)
def two_axis_scan(num_scans): '''scans over x and y''' detector.reset_fsr() minimize_fsr() servocontrol.move_arm(0) servocontrol.move_base(0) writer = csvinterface.CSVWriter(([0,90]), list(range(0,182,2))); for scan_num in range(num_scans): for base_angle in [0,90]: servocontrol.move_base(base_angle) for arm_angle in range(0,182,2): servocontrol.move_arm(arm_angle) writer.add_point(base_angle,arm_angle,detector.read_detector()) #print(detector.read_detector()) time.sleep(0.5) servocontrol.move_arm(0) servocontrol.move_base(0) means_filename, stdev_filename = writer.save_csv() simpleplot.simple_plot(means_filename, stdev_filename)
def full_scan(num_scans): ''' scans over everything!''' detector.reset_fsr() minimize_fsr() servocontrol.move_arm(0) servocontrol.move_base(0) writer = csvinterface.CSVWriter(list(range(0,190,10)), list(range(0,182,2))); for scan_num in range(num_scans): for base_angle in range(0,190,10): servocontrol.move_base(base_angle) for arm_angle in range(0,182,2): servocontrol.move_arm(arm_angle) writer.add_point(base_angle,arm_angle,detector.read_detector()) #print(detector.read_detector()) time.sleep(0.5) servocontrol.move_arm(0) servocontrol.move_base(0) means_filename, stdev_filename = writer.save_csv() twographs.plot_everything(means_filename, stdev_filename)
def gainset(anglex, angley):
x, y, button = joystick.get_joystick()
print("voltage:", detector.read_detector(), "V")
if y > 700:
if angley < 180: angley += 3
print("moving base to:", angley)
servocontrol.move_base(angley)
elif y < 200:
if angley > 0: angley -= 3
print("moving base to:", angley)
servocontrol.move_base(angley)
if x > 700:
if anglex < 180: anglex += 3
print("moving arm to:", anglex)
servocontrol.move_arm(anglex)
elif x < 200:
if anglex > 0: anglex -= 3
print("moving arm to:", anglex)
servocontrol.move_arm(anglex)
return anglex, angley