def main():
g = gclib.py() #make an instance of the gclib python class
try:
print('gclib version:', g.GVersion())
###########################################################################
# Connect
###########################################################################
g.GOpen('10.1.2.245 --direct -s ALL')
#g.GOpen('10.1.2.250 --direct -s ALL')
#g.GOpen('COM1 --direct')
print(g.GInfo())
#Motion Complete
c = g.GCommand
c('AB') #abort motion and program
c('MO') #turn off all motors
c('SH') #servo on
#you should put some logic here or somewhere else that makes it always start at the same encoder position for each axis,
#it seems like wherever it is right now when it turns on is set as the 0 position.
location = "UCSB"
cbody = "Sun"
az, el = planets.getlocation(location, cbody)
#figure out how to put this into a seperate script and call it, because ill need to redo this after every horizontal scan
#the issue is putting gclib stuff in a seperate script
######################################
degtoctsAZ = 1024000 / 360
degtoctsE = 4096 / 360
#where you are currently
P1AZ = float(c('TPX'))
P1E = float(c('TPY'))
print 'AZ_0:', P1AZ % 1024000 / degtoctsAZ, 'Elev_0:', P1E % 4096 / degtoctsE
#az el you want to go to
AZ = az
E = el
#convert to cts
P2AZ = AZ % 360 * degtoctsAZ
P2E = E % 360 * degtoctsE
#azimuth settings
azSP = 90 * degtoctsAZ # 90 deg/sec
azD = (P2AZ - P1AZ) # move to desired az
#elevation settings
elevSP = 180 * degtoctsE # x degrees/sec
elevD = (P2E - P1E) # move to desired elev
c('SPA=' + str(azSP)) #speed, cts/sec
c('PRA=' + str(azD)) #relative move
print(' Starting Motion...')
c('BGA') #begin motion
#c('AMA')
#g.GMotionComplete('A')
c('SPB=' + str(elevSP)) #elevation speed
c('PRB=' + str(elevD)) # change the elevation by x deg
c('BGB')
c('AMB')
print(' done.')
#count += 1
#print(c('TP'))
print 'AZ_f:', P2AZ / degtoctsAZ, 'Elev_f:', P2E / degtoctsE
#############################################################
#P2A = float(c('TPX'))
#deltaA = (P2A - P1A) / degtoctsA
#print 'delta A:', deltaA
del c #delete the alias
###########################################################################
# except handler
###########################################################################
except gclib.GclibError as e:
print('Unexpected GclibError:', e)
finally:
g.GClose() #don't forget to close connections!
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.getlocation(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