def helicalScan(tscan, lim1, lim2, az1, el1, c):
try:
c = c
degtoctsEl = config.degtoctsEl
offsetEl = gp.galilElOffset
if lim1 < 0. or lim2 > 90.:
print 'Warning, %.2f deg elevation is below the horizon, your going to break the telescope...' % P2El + deltaEl
return
#moving to starting elevation
if el1 < lim1:
print 'moving to starting elevation %f' % lim1
moveto.location(az1, el1, None, lim1, c)
if el1 > lim2:
print 'moving to starting elevation %f' % lim2
moveto.location(az1, el1, None, lim2, c)
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#offset between galil and beam
offsetAz = gp.galilAzOffset
offsetEl = gp.galilElOffset
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('JGA=' + str(azSP)) #speed, cts/sec
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
#elevation settings
elevSP = config.elevSP # x degrees/sec
elevAC = config.elevAC # acceleration
elevDC = config.elevDC #
elevD = (lim2 - lim1) * degtoctsEl # distance to desired elev
elevDsmall = (lim2 - el1) * degtoctsEl # distance to desired elev
#gclib/galil commands to set az axis motor motion
c('SPB=' + str(elevSP)) #elevation speed
c('ACB=' + str(elevAC)) #acceleration, cts/sec
c('DCB=' + str(elevDC)) #deceleration, cts/sec
#if your inside the specified range move to starting position
if el1 < lim2 or el1 > lim1:
c('PRB=' + str(elevDsmall))
#if your at starting point just start moving
else:
c('PRB=' + str(elevD))
#set start time
st = time.time()
#set current time to start time
ct = st
#duration of scan
dt = tscan * 60. # scan time in minutes
print(' Starting Helical Scan')
c('BGA') #begin az motion
c('BGB') # begin el motion
#scan in azimuth while current time < start time + duration
while ct < st + dt:
if c('MG _SCB') == '1.0000':
print 'changing direction'
time.sleep(1.0)
elevD = -elevD
c('PRB=' + str(elevD))
c('BGB')
#update current time
ct = time.time()
#if az stops moving exit while loop
if c('MG _BGA') == '0.0000':
return
c('STX') # stop when duration has passed
c('STY')
print(' done.')
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return
def linearScan(location, cbody, numAzScans, MinAz, MaxAz, c):
try:
#print('gclib version:', g.GVersion())
#g.GOpen('COM1 --direct')
#print(g.GInfo())
c = c
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
MinCT = MinAz * degtoctsAZ # min az scanned to
MaxCT = MaxAz * degtoctsAZ # max az scanned to
#loop through back and forth azimuth scans
for i in range(0, numAzScans):
#find az, el of various sky objects
az, el = planets.getpointing(location, cbody)
print('%s az, el: ' % cbody, az, el)
#keep the telescope from pointing below the horizon
if el < 0. or el > 180.:
print(
'Warning, this elevation is below the horizon, your going to break the telescope...'
)
return
#forward scan
if (i % 2) == 0:
moveto.location(az + MinAz, el, c)
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' + str(MaxCT - MinCT)) #relative move
print(' Starting forward pass: '******'BGA') #begin motion
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
wait(c)
if c('MG _SCA') != '1.0000':
return
#c('AMA') # wait for motion to complete
#g.GMotionComplete('A') # I don't know what this does
print(' done.')
#backwards scan
else:
moveto.location(az + MaxAz, el, c)
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' +
str(MinCT -
MaxCT)) #relative move, 1024000 cts = 360 degrees
print(' Starting backward pass: '******'BGA') #begin motion
#c('AMA') #wait for motion to complete
wait(c)
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _SCA') != '1.0000':
return
#g.GMotionComplete('A')
print(' done.')
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return
def azScan2(tscan, elevations, az1, el1, c):
try:
c = c
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#offset between galil and beam
offsetAz = gp.galilAzOffset
offsetEl = gp.galilElOffset
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('JGA=' + str(azSP)) #speed, cts/sec
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
#elevation settings
elevSP = config.elevSP # x degrees/sec
elevAC = config.elevAC # acceleration
elevDC = config.elevDC # deceleration
#gclib/galil commands to set az axis motor motion
c('SPB=' + str(elevSP)) #elevation speed
c('ACB=' + str(elevAC)) #acceleration, cts/sec
c('DCB=' + str(elevDC)) #deceleration, cts/sec
#initial position
P1AZ = az1 * degtoctsAZ
P1El = el1 * degtoctsEl
print('AZ:', az1, 'Elev:', el1)
if elevations == None:
elevations = [el1]
#maybe add this back in
#for i in range(0, iterations):
#loop through iterations
for e in elevations:
moveto.location(az1, el1, None, float(e), c)
#set start time
#st = datetime.utcnow()
st = time.time()
#set current time to start time
ct = st
#duration of azimuth scan
#dt = timedelta(0, tscan)
dt = tscan * 60 * 60
print(' Starting az Scan at elevation: ' + str(e))
c('BGA') #begin motion
#scan in azimuth while current time < start time + duration
while ct < st + dt:
#update current time
#ct = datetime.utcnow()
ct = time.time()
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _BGA') == '0.0000':
return
c('ST') # stop when duration has passed
#wait till az axis is done moving
wait(c)
print(' done with elevation %s.' % e)
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return
def linearScan(location, cbody, numAzScans, MinAz, MaxAz, az1, el1, c):
try:
c = c
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
MinCT = MinAz * degtoctsAZ # min az scanned to
MaxCT = MaxAz * degtoctsAZ # max az scanned to
#find az, el of various sky objects
az, el = planets.getpointing(location, cbody)
moveto.location(az1, el1, az + MinAz, el, c)
az1 = (az + MinAz) % 360
el1 = el % 360
#loop through back and forth azimuth scans
for i in range(0, numAzScans):
if i != 0:
#find az, el of various sky objects
az, el = planets.getpointing(location, cbody)
print('%s az, el: ' % cbody, az, el)
#keep telescope from pointing below horizon
if el < 0. or el > 90.:
print(
'Warning, %.2f deg elevation is below the horizon, your going to break the telescope...'
% el)
return
#forward scan
if (i % 2) == 0:
if i != 0:
time.sleep(0.3)
moveto.location(az1, el1, az + MinAz, el, c)
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' + str(MaxCT - MinCT)) #relative move
print(' Starting forward pass: '******'BGA') #begin az motion
#wait till az axis is done moving
wait(c)
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _SCA') != '1.0000':
return
print(' done.')
az1 = (az + MaxAz) % 360
#backwards scan
else:
az, el = planets.getpointing(location, cbody)
time.sleep(0.3)
moveto.location(az1, el1, az + MaxAz, el, c)
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' +
str(MinCT -
MaxCT)) #relative move, 1024000 cts = 360 degrees
print(' Starting backward pass: '******'BGA') #begin az motion
#wait till az axis is done moving
wait(c)
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _SCA') != '1.0000':
return
print(' done.')
az1 = (az + MinAz) % 360
print 'finished scan'
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return
def horizontalScan(location, cbody, numAzScans, MinAz, MaxAz, MinEl, MaxEl,
stepSize, az1, el1, c):
try:
c = c
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
MinCT = MinAz * degtoctsAZ # min az scanned to
MaxCT = MaxAz * degtoctsAZ # max az scanned to
#number of elevations to scan at, rounds to nearest integer
#numElScans = int(round(((MaxEl - MinEl)/stepSize)))
numElScans = int(round(((MaxEl - MinEl + stepSize) / stepSize)))
#find az, el of various sky objects
az, el = planets.getpointing(location, cbody)
moveto.location(az1, el1, az + MinAz, el + MinEl, c)
az1 = (az + MinAz) % 360
el1 = (el + MinEl) % 360
#loop through back and forth az scans at different elevations
for j in range(0, numElScans):
print('starting horizontal scan: ', j + 1)
for i in range(0, numAzScans):
if i != 0:
#find az, el of varios sky objects
az, el = planets.getpointing(location, cbody)
print('%s az, el: ' % cbody, az, el)
#keep the telescope from pointing below the horizon
if el + MinEl < 0.:
print(
'Warning, %.2f deg min elevation is below the horizon, your going to break the telescope...'
% (el + MinEl))
return
#keep the telescope from pointing below the horizon
if el + MaxEl > 90.:
print(
'Warning, %.2f deg max elevation is below the horizon, your going to break the telescope...'
% (el + MaxEl))
return
#forward scan
if (i % 2) == 0:
if i != 0:
time.sleep(0.4)
moveto.location(az1, el1, az + MinAz,
el + MinEl + j * stepSize, c)
el1 = (el + MinEl + j * stepSize) % 360
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' + str(MaxCT - MinCT)) #relative move
print(' Starting forward pass: '******'BGA') #begin az motion
#wait till az axis is done moving
wait(c)
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _SCA') != '1.0000':
print 'stopped stepped el scan'
return
print(' done.')
az1 = (az + MaxAz) % 360
#backwards scan
else:
az, el = planets.getpointing(location, cbody)
time.sleep(0.4)
moveto.location(az1, el1, az + MaxAz,
el + MinEl + j * stepSize, c)
el1 = (el + MinEl + j * stepSize) % 360
#gclib/galil commands to move az axis motor
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' + str(MinCT - MaxCT)) #relative move
print(' Starting backward pass: '******'BGA') #begin az motion
#wait till az axis is done moving
wait(c)
#if it hasnt reached its intended position,
#its because I stopped it and the function should end
if c('MG _SCA') != '1.0000':
print 'stopped stepped el scan'
return
print(' done.')
az1 = (az + MinAz) % 360
print 'finished scan'
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return
g = gclib.py()
#connect to network
g.GOpen('10.1.2.245 --direct -s ALL')
#
#g.GOpen('COM1 --direct')
#used for galil commands
c = g.GCommand
c('AB') #abort motion and program
c('MO') #turn off all motors
c('SH') #servo on
#how long should it scan in azimuth before switching elevations, in seconds
tscan = 5
#numRotations = 1
# how many different elevations to scan at
iterations = 2
#difference in elevation for each scan
deltaEl = 90.
#starting elevation and azimuth
az0 = 60.
el0 = 0.
moveto.location(az0, el0, c)
scan.azScan(tscan, iterations, deltaEl, c)
#scantest.azScan(numRotations, iterations, deltaEl, c)
g.GClose() #close connections
def helicalScan(tscan, lim1, lim2, c):
try:
c = c
if lim1 < 0. or lim2 > 90.:
print 'Warning, %.2f deg elevation is below the horizon, your going to break the telescope...' % P2El + deltaEl
return
#moving to starting elevation
print 'moving to starting elevation %f' % lim1
moveto.location(None, lim1, c)
# deg to ct conversion for each motor
degtoctsAZ = config.degtoctsAZ
degtoctsEl = config.degtoctsEl
#offset between galil and beam
offsetAz = gp.galilAzOffset
offsetEl = gp.galilElOffset
#azimuth scan settings
azSP = config.azSP # az scan speed, 90 deg/sec
azAC = config.azAC # acceleration
azDC = config.azDC # deceleration
#gclib/galil commands to set az axis motor motion
c('JGA=' + str(azSP)) #speed, cts/sec
c('ACA=' + str(azAC)) #acceleration, cts/sec
c('DCA=' + str(azDC)) #deceleration, cts/sec
#elevation settings
elevSP = config.elevSP # x degrees/sec
elevAC = config.elevAC # acceleration
elevDC = config.elevDC # deceleration
elevD = (lim2 -
lim1) * degtoctsEl # move elevation x degrees each iteration
#gclib/galil commands to set az axis motor motion
c('SPB=' + str(elevSP)) #elevation speed
c('ACB=' + str(elevAC)) #acceleration, cts/sec
c('DCB=' + str(elevDC)) #deceleration, cts/sec
c('PRB=' + str(elevD))
#initial position
#P1AZ = ((float(c('TPX')) / degtoctsAZ) + offsetAz) % 360.
#P1El = ((float(c('TPY')) / degtoctsEl) + offsetEl) % 360.
#print('AZ:', P1AZ, 'Elev:', P1El)
#set start time
st = time.time()
#set current time to start time
ct = st
#duration of scan
dt = tscan * 60. # scan time in minutes
print(' Starting helical Scan')
c('BGA') #begin az motion
c('BGB') # begin el motion
#scan in azimuth while current time < start time + duration
while ct < st + dt:
if c('MG _SCB') == '1.0000':
elevD = -elevD
c('PRB=' + str(elevD))
c('BGB')
#update current time
ct = time.time()
#if az stops moving exit while loop
if c('MG _BGA') == '0.0000':
return
c('STX') # stop when duration has passed
c('STY')
print(' done.')
#final position after each az scan
#P2AZ = ((float(c('TPX')) / degtoctsAZ) + offsetAz) % 360.
#P2El = ((float(c('TPY')) / degtoctsEl) + offsetEl) % 360.
#print('AZ:', P2AZ, 'Elev:', P2El)
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
return