malcolm.modules.pmac.infos

class malcolm.modules.pmac.infos.PmacVariablesInfo(i_variables: str, p_variables: str, m_variables: str)

List variable values for variables required in kinematics

Parameters

• i_variables – i variable list

• p_variables – p variable list

• m_variables – m variable list

class malcolm.modules.pmac.infos.PmacCsKinematicsInfo(cs_port: str, q_variables: str, forward: str, inverse: str)

Coordinate sys kinematics programs and Q variable values

Parameters

• cs_port – the port name for this coordinate system

• q_variables – i variable list

• forward – forward kinematic code

• inverse – inverse kinematic code

class malcolm.modules.pmac.infos.MotorInfo(cs_axis: str, cs_port: str, acceleration: float, resolution: float, offset: float, max_velocity: float, current_position: float, scannable: str, velocity_settle: float, units: str)

make_velocity_profile(v1, v2, distance, min_time, min_interval=0.002)

Calculate PVT points that will perform the move within motor params

Parameters

• v1 (float) – Starting velocity in EGUs/s

• v2 (float) – Ending velocity in EGUs/s

• distance (float) – Relative distance to travel in EGUs

• min_time (float) – The minimum time the move should take

• min_interval (float) – Minimum time between profile points

Returns

defining a list of times and velocities

Return type

VelocityProfile

in_cts(position: float) → int

Return the position (in EGUs) translated to counts