NEW BOARD SETUP
FIDUCIAL CENTERS SETUP
- Take image with MSIM.
- Open from MSIM Control Panel -> Camera -> GetImage -> ImageProcessing Tab
- Now click on the image coordinates for the fiducials -> click on the image processing pane on "Add Fiducial cmd".
- This adds a command in the command dialog.
cmd_setHornMethodFiducialCoordinate 96,1644, 10
The last argument (10) is the radius around your provided center (argument 1 x and 2 y).
- Repeat this for all fiducials, then save the commands to a file and use it in all your scripts.
POSITIONER CENTERS SETUP
- Home all Positioners. Use 2015_09_16_home_All.lst for this with an updated list of used positioners.
- Take an image with MSIM
- Open from MSIM Control Panel -> Camera -> GetImage -> ImageProcessing Tab
- Now click on the image with one center dot -> on the image processing pane edit the PID number and click on "Add Positioner cmd".
- This adds a command in the command dialog.
cmd_tbd 96,1644, 10
The last argument (10) is the radius around your provided center (argument 1 x and 2 y).
- Repeat this for all positioners.
FIDUCIAL STUDY
- Execute the script in MSIM. It will take 100 pictures and save the centroids it finds for the fiducials you entered to a log.
- Open the Dropbox\PFS_EM\SVN\MATLAB\fiducialStudy.m script and edit the input section
- Give it the paths of the Centroid_log.txt files that msim creates
- Modify the CobraConfigTemplate.xml starting database so that repos field contains the rough fiducial locations found previously.
- Either input the path and filename of the starting XML or uncomment the version which prompts you with the dialog
- Run the fiducialStudy script
- Save the resulting XML when prompted to do so.
- In matlab, look at the newCfg.ARM_DATA.refpos array. This contains the horns corrected average positions of the fiducials in the data you provided originally. Take these and modify future MSIM scripts to use them.
Frequency Sweep/Calibration
On-Time Tuning
Theta Center and Link Length Metrology
- Edit the center script to use the ontimes found from theta and phi forward ontime tuning.
- Run the script.
- Copy the log folder of the results into a folder in the data storage.
- Adjust number of steps for specific positioners in the center script to either get tighter or wider spread of centroids around the circumference.
- Execute the command to find theta centers and save the results:
createCentersLinkLengths
- For each Positioner, decide whether to use the data or not.
- Save the resulting xml.
Loading XML into MSIM
- Move the XML file into the MSIM xml folder: D:\DevCodePft\Main\user\xml_files (There should be a link to this under Sage's Libraries)
- Load the XML file with MSIM and save it.(Commands can be found in MSIM under: Commands -> Database Commands) Verify in the MSIM log that this goes ok.
cmd_load_Xml_file_to_Database yourXmlFilenameWithNoXmlExtension
cmd_save_Database
- Restart MSIM
Generating Targets
- Change the matlab directory to where you want the target files generated
- Create an archive folder and move the existing targets in there first.
- Open and edit the inputs for the target generation script in Matlab to make targets: \Dropbox\PFS_EM\SVN\MATLAB\targGenerator.m
- Run the script
- Restart MSIM
Running Targets
- Open the latest target script in Dropbox\PFS_EM\SVN\MSIM and edit it to have the right positioners
- Also check that fiducial definitions are correct and motor polarity's are right
Target Convergence Analysis
- Copy MSIM target log dir on testbed computer (eg: D:\PfsTests\06_16_14_10_36_21_TargetRun\Log) to the drobox test results target convergence folder (Dropbox\PFS_EM\TEST_RESULTS\TargetConvergence\). Rename the log directory in dropbox to have the same name as the mother directory on testbed computer (eg: 06_16_14_10_36_21_TargetRun). This directory will now be referred to as the test directory here.
- Move the appropriate CobraConfig xml (the most recent file in explorer:Libraries->xmlfiles) used by MSIM into the test directory.
- Change the matlab current folder to the test directory in dropbox.
- Execute the following command to run the target analysis script:
analyzeTargetRun
- When prompted, select the appropriate xml which was used for the MSIM test. The one you moved into test directory.
- Run the script and mat files will be saved to the same log directory as the log txt files are in.
Target Convergence Comparisons
- Change the matlab current folder to Dropbox\PFS_EM\TEST_RESULTS\TargetConvergenceRun the target convergence analysis on data you wish to compare. The mat files from that script are needed for this comparison.
- Open the convergence comparison matlab script in that folder: convCompare.m
- Edit the INPUTS section so that the dataDirs array contains the folder names of test data you wish to compare. These must all contain the results of analyzeTargetRun script.
- Run the script.
- The convergence comparison figure will automatically be saved in the last folder of the dataDirs array, so make sure that is in order.
Motor Map Update
- Do a TargetConvergenceAnalysis as described above.
- Add your new test directory to the list of directories in the beginning of updateMotorMapsFromTargetData.m
- Uncomment all directories that contain data you want to include in the analysis.
- Run the script with your latest xml and take a thorough look at the results. Look for extreme map values and decide whether it is realistic and ok for the positioner to have these values.
- Follow the Loading XML into MSIM procedure above.
--
JohannesGross - 21 Sep 2015
This topic: Subaru/PFS
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Topic revision: r1 - 2015-09-21 - JohannesGross