Removed extra point in turnaround, and corrected user programs

bluesky · Dec 3, 2024 · 77d8e6e · 77d8e6e
1 parent 109bcc9
commit 77d8e6e
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Showing 2 changed files with 5 additions and 41 deletions.
diff --git a/src/ophyd_async/epics/pmac/_pmac_trajectory.py b/src/ophyd_async/epics/pmac/_pmac_trajectory.py
@@ -133,36 +133,12 @@ async def prepare(self, value: PmacTrajInfo):
                             profile_gap : profile_gap + len_gap
                         ] = vel_gap[axis]
 
-                        positions[cs_axes[axis]][profile_gap + len_gap] = chunk.lower[
-                            axis
-                        ][gap]
-                        positions[cs_axes[axis]][profile_gap + len_gap + 1] = (
-                            chunk.upper[axis][gap]
-                        )
-
-                        velocities[cs_axes[axis]][
-                            profile_gap + len_gap : profile_gap + len_gap + 2
-                        ] = np.repeat(
-                            (chunk.upper[axis][gap] - chunk.lower[axis][gap])
-                            / chunk.midpoints["DURATION"][gap],
-                            2,
-                            axis=0,
-                        )
-
                     else:
                         time_array[profile_gap : profile_gap + len_gap] = time_gap
-                        user_array[profile_gap : profile_gap + len_gap] = 2
-
-                        time_array[
-                            profile_gap + len_gap : profile_gap + len_gap + 2
-                        ] = np.repeat(
-                            chunk.midpoints["DURATION"][gap] / (2 * TICK_S), 2
-                        )
-                        user_array[
-                            profile_gap + len_gap : profile_gap + len_gap + 2
-                        ] = 1
-
-                added_point += len_gap + 1
+                        user_array[profile_gap : profile_gap + len_gap - 1] = 2
+                        user_array[profile_gap + len_gap - 1] = 1
+
+                added_point += len_gap
             start = gap
 
         # Calculate Starting and end Position to allow ramp up and trail off velocity

diff --git a/tests/epics/pmac/test_pmac.py b/tests/epics/pmac/test_pmac.py
@@ -178,7 +178,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             5.55,
             5.55,
             5.5,
-            5.5,
             5.0,
             4.5,
             4.0,
@@ -193,7 +192,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             0.45,
             0.45,
             0.5,
-            0.5,
             1.0,
             1.5,
             2.0,
@@ -233,7 +231,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             -1.0,
             -1.0,
             -1.0,
-            -1.0,
             -0.0,
             0.0,
             -0.0,
@@ -248,7 +245,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             1.0,
             1.0,
             1.0,
-            1.0,
             0.0,
         ]
     )
@@ -278,7 +274,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             11.0,
             11.0,
             11.0,
-            11.0,
             11.05,
             11.5,
             11.95,
@@ -294,7 +289,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             12.0,
             12.0,
             12.0,
-            12.0,
         ]
     )
     assert await trigger_logic.pmac.velocities[8].get_value() == pytest.approx(
@@ -323,7 +317,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             0.0,
             0.0,
             0.0,
-            0.0,
             1.0,
             3.16227766,
             1.0,
@@ -339,7 +332,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             0.0,
             0.0,
             0.0,
-            0.0,
         ]
     )
     assert await trigger_logic.pmac.time_array.get_value() == pytest.approx(
@@ -368,7 +360,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             500000,
             500000,
             500000,
-            500000,
             100000,
             216227,
             216227,
@@ -383,7 +374,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             500000,
             500000,
             500000,
-            500000,
             100000,
         ]
     )
@@ -402,7 +392,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             2,
             2,
             2,
-            2,
             1,
             1,
             1,
@@ -417,7 +406,6 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             2,
             2,
             2,
-            2,
             1,
             1,
             1,
@@ -432,7 +420,7 @@ async def test_sim_grid_trajectory(sim_x_motor, sim_y_motor, sim_pmac) -> None:
             8,
         ]
     )
-    assert await trigger_logic.pmac.points_to_build.get_value() == 41
+    assert await trigger_logic.pmac.points_to_build.get_value() == 39
     assert await sim_x_motor.user_setpoint.get_value() == 0.45
     assert trigger_logic.scantime == 15.2
-Original file line number
+Diff line change
@@ Expand Up @@
 .55,
 .55,
 .5,
-.5,
 .0,
 .5,
 .0,
@@ Expand All @@
 .45,
 .45,
 .5,
-.5,
 .0,
 .5,
 .0,
@@ Expand Down Expand Up @@
                 -1.0,
                 -1.0,
                 -1.0,
-                -1.0,
                 -0.0,
 .0,
                 -0.0,
@@ Expand All @@
 .0,
 .0,
 .0,
-.0,
 .0,
             ]
         )
@@ Expand Down Expand Up @@
 .0,
 .0,
 .0,
-.0,
 .05,
 .5,
 .95,
@@ Expand All @@
 .0,
 .0,
 .0,
-.0,
             ]
         )
         assert await trigger_logic.pmac.velocities[8].get_value() == pytest.approx(
@@ Expand Down Expand Up @@
 .0,
 .0,
 .0,
-.0,
 .0,
 .16227766,
 .0,
@@ Expand All @@
 .0,
 .0,
 .0,
-.0,
             ]
         )
         assert await trigger_logic.pmac.time_array.get_value() == pytest.approx(
@@ Expand Down Expand Up @@
 ,
 ,
 ,
-,
 ,
 ,
 ,
@@ Expand All @@
 ,
 ,
 ,
-,
 ,
             ]
         )
@@ Expand All @@
 ,
 ,
 ,
-,
 ,
 ,
 ,
@@ Expand All @@
 ,
 ,
 ,
-,
 ,
 ,
 ,
@@ Expand All @@
 ,
             ]
         )
-        assert await trigger_logic.pmac.points_to_build.get_value() == 41
+        assert await trigger_logic.pmac.points_to_build.get_value() == 39
         assert await sim_x_motor.user_setpoint.get_value() == 0.45
         assert trigger_logic.scantime == 15.2
@@ Expand Down @@