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176 | def xlj_fast_xyz(orientation='horizontal', scale=0.1):
"""
Parameters
----------
orientation: str, optional
set orientation to change the x and y axis. horizontal by default
use only 'horizontal' of 'vertical'
scale: float, optional
starting scale for the step size
Operations
----------
Base function to control motors with the arrow keys.
With three motors, you can use the right and left arrow keys to move right
and left, up and down arrow keys to move up and down, and Shift+up and
shift+down to move z in and out
The scale for the tweak can be doubled by pressing + and halved by pressing
-. Shift+right and shift+left can also be used, and the up and down keys will
also adjust the scaling in one motor mode. The starting scale can be set
with the keyword argument `scale`.
Ctrl+c will stop an ongoing move during a tweak without exiting the tweak.
Both q and ctrl+c will quit the tweak between moves.
"""
if orientation == str('horizontal').lower():
xlj_fast_x = BypassPositionCheck("MFX:LJH:JET:X", name="xlj_fast_x")
xlj_fast_y = BypassPositionCheck("MFX:LJH:JET:Y", name="xlj_fast_y")
if orientation == str('vertical').lower():
xlj_fast_y = BypassPositionCheck("MFX:LJH:JET:X", name="xlj_fast_x")
xlj_fast_x = BypassPositionCheck("MFX:LJH:JET:Y", name="xlj_fast_y")
xlj_fast_z = BypassPositionCheck("MFX:LJH:JET:Z", name="xlj_fast_z")
xlj = BeckhoffJet('MFX:LJH', name='xlj')
up = "\x1b[A"
down = "\x1b[B"
right = "\x1b[C"
left = "\x1b[D"
shift_up = "\x1b[1;2A"
shift_down = "\x1b[1;2B"
shift_right = "\x1b[1;2C"
shift_left = "\x1b[1;2D"
alt_up = "\x1b[1;3A"
alt_down = "\x1b[1;3B"
alt_right = "\x1b[1;3C"
alt_left = "\x1b[1;3D"
ctrl_up = "\x1b[1;5A"
ctrl_down = "\x1b[1;5B"
ctrl_right = "\x1b[1;5C"
ctrl_left = "\x1b[1;5D"
plus = "+"
equal = "="
minus = "-"
under = "_"
abs_status = '{}: {:.4f}'
exp_status = '{}: {:.4e}'
move_keys = (left, right, up, down, shift_up, shift_down)
scale_keys = (plus, minus, equal, under, shift_right, shift_left)
motors = [xlj_fast_x, xlj_fast_y, xlj_fast_z]
def show_status():
if scale >= 0.0001:
template = abs_status
else:
template = exp_status
text = [template.format(mot.name, mot.wm()) for mot in motors]
text.append(f'scale: {scale}')
print('\x1b[2K\r' + ', '.join(text), end='')
def usage():
print() # Newline
print(" Left: move x motor left")
print(" Right: move x motor right")
print(" Down: move y motor down")
print(" Up: move y motor up")
print(" shift+up: Z upstream")
print(" shift+down: Z downstream")
print(" + or shift+right: scale*2")
print(" - or shift+left: scale/2")
print(" Press q to quit."
" Press any other key to display this message.")
print() # Newline
def edit_scale(scale, direction):
"""Function used to change the scale."""
if direction in (up, shift_right, plus, equal):
scale = scale*2
elif direction in (down, shift_left, minus, under):
scale = scale/2
return scale
def movement(scale, direction):
"""Function used to know when and the direction to move the motor."""
try:
if direction == left:
if round(xlj.jet.x(), 2) != round(xlj_fast_x(), 2):
logger.error(f'xlj.jet.x = {xlj.jet.x()}, xlj_fast_x = {xlj_fast_x()}')
xlj_fast_x.umv(xlj.jet.x())
xlj_fast_x.umvr(-scale, log=False, newline=False)
elif direction == right:
if round(xlj.jet.x(), 2) != round(xlj_fast_x(), 2):
logger.error(f'xlj.jet.x = {xlj.jet.x()}, xlj_fast_x = {xlj_fast_x()}')
xlj_fast_x.umv(xlj.jet.x())
xlj_fast_x.umvr(scale, log=False, newline=False)
elif direction == up:
if round(xlj.jet.y(), 2) != round(xlj_fast_y(), 2):
logger.error(f'xlj.jet.y = {xlj.jet.y()}, xlj_fast_y = {xlj_fast_y()}')
xlj_fast_y.umv(xlj.jet.y())
xlj_fast_y.umvr(scale, log=False, newline=False)
elif direction == down:
if round(xlj.jet.y(), 2) != round(xlj_fast_y(), 2):
logger.error(f'xlj.jet.y = {xlj.jet.y()}, xlj_fast_y = {xlj_fast_y()}')
xlj_fast_y.umv(xlj.jet.y())
xlj_fast_y.umvr(-scale, log=False, newline=False)
elif direction == shift_up:
if round(xlj.jet.z(), 2) != round(xlj_fast_z(), 2):
logger.error(f'xlj.jet.z = {xlj.jet.z()}, xlj_fast_z = {xlj_fast_z()}')
xlj_fast_z.umv(xlj.jet.z())
xlj_fast_z.umvr(-scale, log=False, newline=False)
elif direction == shift_down:
if round(xlj.jet.z(), 2) != round(xlj_fast_z(), 2):
logger.error(f'xlj.jet.z = {xlj.jet.z()}, xlj_fast_z = {xlj_fast_z()}')
xlj_fast_z.umv(xlj.jet.z())
xlj_fast_z.umvr(scale, log=False, newline=False)
except Exception as exc:
logger.error('Error in tweak move: %s', exc)
logger.debug('', exc_info=True)
start_text = [f'{mot.name} at {mot.wm():.4f}' for mot in motors]
logger.info('Started tweak of ' + ', '.join(start_text))
usage()
# Loop takes in user key input and stops when 'q' is pressed
is_input = True
while is_input is True:
show_status()
inp = utils.get_input()
if inp in ('q'):
is_input = False
elif inp in move_keys:
movement(scale, inp)
elif inp in scale_keys:
scale = edit_scale(scale, inp)
elif inp in ('h'):
usage()
else:
logger.error('Not the way to use this. Press "h" to see how.')
print()
logger.info('Tweak complete')
|