Merge pull request #2 from ethanjli/pzyxRobot

Add x-axis to the robot

calibrations/p_physical.json

@@ -1,115 +1,115 @@
 {
   "parameters": {
-    "intercept": -0.043856185739727216,
-    "rsquared": 0.9999343071341059,
-    "slope": 0.0009507880043054576,
-    "stderr": 2.2247108528525963e-06
+    "intercept": -0.00667511958942546,
+    "rsquared": 0.9999164710099766,
+    "slope": 0.0009572026810079833,
+    "stderr": 2.5255682365596283e-06
   },
   "physical unit": "mL mark",
   "samples": [
     {
-      "physical": 0.91,
-      "sensor": 1002
+      "physical": 0.315,
+      "sensor": 331
     },
     {
-      "physical": 0.0,
-      "sensor": 40
+      "physical": 0.665,
+      "sensor": 704
     },
     {
-      "physical": 0.4,
-      "sensor": 469
+      "physical": 0.245,
+      "sensor": 260
     },
     {
-      "physical": 0.615,
-      "sensor": 693
+      "physical": 0.65,
+      "sensor": 689
     },
     {
-      "physical": 0.585,
-      "sensor": 661
+      "physical": 0.452,
+      "sensor": 477
     },
     {
-      "physical": 0.125,
-      "sensor": 176
+      "physical": 0.64,
+      "sensor": 677
     },
     {
-      "physical": 0.377,
-      "sensor": 446
+      "physical": 0.91,
+      "sensor": 959
     },
     {
-      "physical": 0.725,
-      "sensor": 811
+      "physical": 0.54,
+      "sensor": 574
     },
     {
-      "physical": 0.455,
-      "sensor": 526
+      "physical": 0.43,
+      "sensor": 453
     },
     {
-      "physical": 0.357,
-      "sensor": 425
+      "physical": 0.51,
+      "sensor": 539
     },
     {
-      "physical": 0.034,
-      "sensor": 78
+      "physical": 0.35,
+      "sensor": 369
     },
     {
-      "physical": 0.43,
-      "sensor": 500
+      "physical": 0.29,
+      "sensor": 306
     },
     {
-      "physical": 0.046,
-      "sensor": 91
+      "physical": 0.855,
+      "sensor": 905
     },
     {
-      "physical": 0.0,
-      "sensor": 44
+      "physical": 0.815,
+      "sensor": 864
     },
     {
-      "physical": 0.05,
-      "sensor": 100
+      "physical": 0.948,
+      "sensor": 992
     },
     {
-      "physical": 0.226,
-      "sensor": 289
+      "physical": 0.725,
+      "sensor": 766
     },
     {
-      "physical": 0.25,
-      "sensor": 314
+      "physical": 0.092,
+      "sensor": 104
     },
     {
-      "physical": 0.135,
-      "sensor": 188
+      "physical": 0.19,
+      "sensor": 199
     },
     {
-      "physical": 0.575,
-      "sensor": 653
+      "physical": 0.322,
+      "sensor": 336
     },
     {
-      "physical": 0.695,
-      "sensor": 777
+      "physical": 0.02,
+      "sensor": 34
     },
     {
-      "physical": 0.9,
-      "sensor": 988
+      "physical": 0.038,
+      "sensor": 49
     },
     {
-      "physical": 0.537,
-      "sensor": 614
+      "physical": 0.025,
+      "sensor": 37
     },
     {
-      "physical": 0.0,
-      "sensor": 41
+      "physical": 0.025,
+      "sensor": 37
     },
     {
-      "physical": 0.915,
-      "sensor": 1000
+      "physical": 0.36,
+      "sensor": 378
     },
     {
-      "physical": 0.055,
-      "sensor": 105
+      "physical": 0.018,
+      "sensor": 31
     },
     {
-      "physical": 0.335,
-      "sensor": 404
+      "physical": 0.075,
+      "sensor": 86
     }
   ]
 }

calibrations/p_discrete.json → calibrations/p_preset.json

@@ -1,8 +1,15 @@
 {
   "physical": {
+    "low end": {
+      "type": "implicit"
+    },
+    "high end": {
+      "type": "implicit"
+    }
   },
   "sensor": {
     "pre-intake": {
+      "type": "constants",
       "20": 380,
       "30": 365,
       "40": 365,

calibrations/x_physical.json

@@ -0,0 +1,47 @@
+{
+  "parameters": {
+    "intercept": -0.50534348079539,
+    "rsquared": 0.9999489798048571,
+    "slope": 0.013723760791316984,
+    "stderr": 5.239945789180571e-05
+  },
+  "physical unit": "cm",
+  "samples": [
+    {
+      "physical": -0.47,
+      "sensor": 0
+    },
+    {
+      "physical": 0.85,
+      "sensor": 100
+    },
+    {
+      "physical": 2.21,
+      "sensor": 199
+    },
+    {
+      "physical": 3.63,
+      "sensor": 299
+    },
+    {
+      "physical": 4.94,
+      "sensor": 401
+    },
+    {
+      "physical": 6.39,
+      "sensor": 500
+    },
+    {
+      "physical": 7.66,
+      "sensor": 599
+    },
+    {
+      "physical": 9.1,
+      "sensor": 699
+    },
+    {
+      "physical": 10.52,
+      "sensor": 801
+    }
+  ]
+}

calibrations/x_preset.json

@@ -0,0 +1,84 @@
+{
+  "physical": {
+    "low end": {
+      "type": "implicit"
+    },
+    "high end": {
+      "type": "implicit"
+    },
+    "alignment hole": {
+      "type": "implicit"
+    },
+    "mount": {
+      "type": "indexed",
+      "odd origin": 3.56,
+      "even origin": 8,
+      "min index": 1,
+      "max index": null,
+      "increment": 10,
+      "odd origin index": 1,
+      "even origin index": 2
+    },
+    "cuvette rack": {
+      "type": "indexed",
+      "origin": -1.11,
+      "increment": 2.22,
+      "min index": "a",
+      "max index": "b",
+      "origin index": "a"
+    },
+    "96-well plate": {
+      "type": "indexed",
+      "origin": -0.37,
+      "increment": 0.9,
+      "min index": "a",
+      "max index": "h",
+      "origin index": "a"
+    },
+    "flat surface": {
+      "type": "continuous",
+      "origin": -1.91,
+      "min": 0,
+      "max": 9.37
+    }
+  },
+  "sensor": {
+  },
+  "configurations": {
+    "standard 96-well plate": {
+      "cuvettes": {
+        "mount": 1,
+        "type": "cuvette rack"
+      },
+      "plate": {
+        "mount": 2,
+        "type": "96-well plate"
+      }
+    },
+    "standard flat surface": {
+      "cuvettes": {
+        "mount": 1,
+        "type": "cuvette rack"
+      },
+      "surface": {
+        "mount": 2,
+        "type": "flat surface"
+      }
+    },
+    "extended 96-well plate": {
+      "cuvettes": {
+        "mount": 1,
+        "type": "cuvette rack"
+      },
+      "plate 1": {
+        "mount": 2,
+        "type": "96-well plate"
+      },
+      "plate 2": {
+        "mount": 4,
+        "type": "96-well plate"
+      }
+    }
+  },
+  "default configuration": "standard 96-well plate"
+}

calibrations/x_tunings.json

@@ -0,0 +1,22 @@
+{
+  "default": {
+    "pid": {
+      "kp": 40,
+      "kd": 1.5
+    },
+    "limits": {
+      "motor": {
+        "forwards": {
+          "min": 110,
+          "max": 150
+        },
+        "backwards": {
+          "min": 110,
+          "max": 150
+        }
+      }
+    }
+  },
+  "target positions": [
+  ]
+}