30:T10dd,class Schedule { constructor(config=defaultConfig, {dtype=Int32Array,initialSize=128,chunkSize=64}={}) { this.config = config; this.dt = 1/config.clock; this.dw = config.creepStep*config.clock/(config.creepPeriod*config.gearRatio); this.dtype = dtype; this.chunkSize = chunkSize; this.increment = dtype.from({length:initialSize}, _=>0); this.duration = dtype.from({length:initialSize}, _=>0); this.next = 0; this.nticks = 0; this.final = false; } get totalTime() { return this.dt*this.nticks; } reserve(index) { // Check that our arrays are big enough for the specified index and reallocate larger // arrays if necessary. if(this.final) throw new Error("Cannot extend a finalized schedule."); const oldLength = this.increment.length; const nChunks = Math.ceil((index - oldLength + 1) / this.chunkSize); if(index >= oldLength) { const newLength = oldLength + nChunks * this.chunkSize; //console.log(`expanding from ${oldLength} to ${newLength} for index ${index} by ${nChunks} chunks`); this.increment = this.dtype.from({length:newLength}, (_,i)=>ii other.nticks) other.pause(this.nticks - other.nticks, 1); else if(this.nticks < other.nticks) this.pause(other.nticks - this.nticks, 1); } pause(steps, unit=this.config.pause) { if(steps==0) return; this.reserve(this.next); this.increment[this.next] = 0; this.duration[this.next] = steps*unit; this.nticks += this.duration[this.next]; this.next += 1; } creep(steps) { if(steps==0) return; this.reserve(this.next); this.increment[this.next] = Math.sign(steps); this.duration[this.next] = this.config.creepPeriod*Math.abs(steps); this.nticks += this.duration[this.next]; this.next += 1; } cruise(steps) { if(steps==0) return; const dir = Math.sign(steps); const start = this.next; const stop = start + 2*this.config.cruiseRatio; this.reserve(stop); for(let i=0; i <= this.config.cruiseRatio; i++) { this.increment[start+i] = this.increment[stop-i] = (i+1)*dir*this.config.creepPeriod; } for(let i=start; i <= stop; i++) this.duration[i] = this.config.spinUpDownPeriod; this.increment[start+this.config.cruiseRatio] = dir*this.config.creepPeriod*this.config.cruiseRatio; this.duration[start+this.config.cruiseRatio] = Math.abs(steps); this.nticks += 2*this.config.cruiseRatio*this.config.spinUpDownPeriod + Math.abs(steps); this.next = stop+1; } move(steps, mode, pause) { if(mode == 0 || mode=="creep") this.creep(steps); else if(mode == 1 || mode=="cruise") this.cruise(steps); else throw new Error("Invalid mode: '" + mode + "'"); this.pause(pause); } finalize(initial=0, {dtype=Float64Array}={}) { if(this.final) throw new Error("Schedule is already finalized."); const wlen = 2*this.next+2; this.wtime = dtype.from({length:wlen}, _=>0); this.omega = dtype.from({length:wlen}, _=>0); const alen = this.next+1; this.atime = dtype.from({length:alen}, _=>0); this.angle = dtype.from({length:alen}, _=>0); let j2=0; this.angle[0] = initial; for(let i=0; i= 0) ? this.config.scaleCCW : this.config.scaleCW; // Apply wiring direction (usually -1) w *= this.config.motorCCWDir; this.omega[i1] = this.omega[i2] = w; this.atime[i+1] = this.dt*j2; this.angle[i+1] = this.angle[i] + this.omega[i1]*this.duration[i]*this.dt; } this.wtime[wlen-1]=this.dt*j2; this.omega[wlen-1]=0; //delete this.increment; //delete this.duration; this.angleInterpolator = new LinearInterpolator(this.atime, this.angle); this.final = true; } getAngle(t) { if(!this.final) throw new Error("Cannot calculate angle until Schedule is final."); return this.angleInterpolator.eval(t); } }31:T6ea,class LinearInterpolator { constructor(xvec,yvec) { if(!xvec.every((x,i) => (i==0) || (x > xvec[i-1]))) throw new Error("x values are not increasing."); if(xvec.length != yvec.length) throw new Error("x and y arrays have different lengths."); this.xvec = xvec; //Float64Array.from(xvec); this.yvec = yvec; //Float64Array.from(yvec); this.xmin = this.xvec[0]; this.hi = this.xvec.length-1; this.xmax = this.xvec[this.hi]; this.last = 0; } _eval(x,k) { // Helper function to evaluate the linear interpolation for x[k] <= x < x[k+1]. // Remembers k to speed up future evaluations. const x0 = this.xvec[k]; const s = (x - x0)/(this.xvec[k+1] - x0); this.last = k; return this.yvec[k]*(1-s) + this.yvec[k+1]*s; } // Perform linear extrapolation in xvec,yvec with constant extrapolation outside the limits. eval(x) { // Use constant extrapolatation outside the xvec limits. if(x < this.xmin) return this.yvec[0]; if(x >= this.xmax) return this.yvec[this.hi]; if(x >= this.xvec[this.last]) { if(x < this.xvec[this.last+1]) { // This value is in the same interval as the last value we looked up. return this._eval(x, this.last); } else if((this.last < this.hi-1) && (x < this.xvec[this.last+2])) { // This value is in the next interval. return this._eval(x, this.last+1); } } else if(x < this.xvec[1]) { // This value is in the first interval. return this._eval(x, 0); } // If we get this far, perform a binary search. let lo=0, hi=this.hi; while(lo != hi) { const idx = Math.ceil((lo+hi)/2); if(this.xvec[idx] > x) hi = idx-1; else lo = idx; } return this._eval(x, lo); } }32:[] 2e:{"title":"DESI Positioner Core Functions","cells":[{"id":0,"value":"# DESI Positioner Core Functions","pinned":false,"hidden":false,"mode":"md"},{"id":164,"value":"md`References:\n - PosModel in \\`plate_control/petal/posmodel.py\\`: software model of positioner hardware\n - PosSchedule in \\`plate_control/petal/posschedule.py\\`: generates move table sent to positioners\n - \\`pos_embedded/firmware/Open_Loop_CANStack1.c\\`: positioner firmware\n\nThe firmware params are (0,1 refer to \\`Theta_0\\` and \\`Theta_1\\` with no assumption about how these map to the usual theta and phi):\n - \\`Spin_Ptr_[0|1]\\`\n - \\`[CW|CCW]_CreepPeriod_[0|1]\\`\n - \\`CruiseCurrent_[0|1]\\`\n - \\`Spin[Up|Down]Current_[0|1]\\`\n - \\`[CW|CCW]_CreepCurrent_[0|1]\\`\n\nThe firmware (\\`Open_Loop_CANstack1.c\\`) hardcodes the cruise speed as 3.3 deg per 18,000 kHz tick on lines 550 and 702, resulting in \\`3.3 / 360 * 18000 * 60 = 9900\\` rpm into the gearbox and \\`3.3 * 18000 / (46.0/14.0+1)^4 = 176.07333\\` deg/s externally.\n\nThe firmware also hardcodes the spin up/down table (line 370) which doesn't seem to exactly match what is implemented below (or in \\`PosModel\\`).\n`","pinned":false,"hidden":false,"mode":"ojs"},{"id":5,"value":"defaultConfig = ({\n // Parameters that are the same for all positioners.\n clock: 18000, // tick frequency in Hz\n pause: 18, // clock ticks per unit of pause\n creepStep: 0.1, // deg\n cruiseRatio: 33, // cruiseStep/creepStep\n spinUpDownPeriod: 12, // clock ticks at each increment of creepStep during spin up/down\n // (SPINUPDOWN_PERIOD in constants db)\n creepPeriod: 2, // clock ticks per creep step (CREEP_PERIOD in constants db)\n gearRatio: (46.0/14.0+1)**4, // Namiki \"337:1\" gear box (GEAR_TYPE_P,T in constants db)\n scaleCCW: 1, // scale correction for CCW (increasing angle) moves\n scaleCW: 1, // scale correction for CW (decreasing angle) moves\n motorCCWDir: -1, // -1 is normal motor wiring, +1 is reversed\n})","pinned":true,"hidden":false,"mode":"ojs"},{"id":11,"value":"class MovePlan {\n constructor(data, {initialT=0, initialP=0, configT=defaultConfig, configP=defaultConfig}={}) {\n this.scheduleT = new Schedule(configT);\n this.scheduleP = new Schedule(configP);\n const nrows = data.motor_steps_T.length;\n for(let i=0; i2-x**2);\n const I=new LinearInterpolator(xin,yin);\n const yout = xin.map(x => I.eval(x));\n const RNG=d3.randomUniform(-1,3);\n let x=Array.from({length:200},() => RNG());\n //x.sort();\n //x.reverse();\n const y=x.map(x => I.eval(x));\n return Plot.plot({\n marks:[\n Plot.dot(xin, {x:x=>x, y:(_,i)=>yin[i], r:2, fill:\"red\"}),\n Plot.dot(xin, {x:x=>x, y:(_,i)=>yout[i], r:4, stroke:\"blue\"}),\n Plot.dot(x, {x:x=>x, y:(_,i)=>y[i], r:1, fill:\"green\"}),\n ]\n });\n return yin;\n*/}","pinned":false,"hidden":false,"mode":"ojs"},{"id":44,"value":"$31","pinned":true,"hidden":false,"mode":"ojs"}],"files":"$W32","stdlib":"1","titling":"auto"}