sweep_type.py

import numpy as np

def sweep_1d(angle_start, angle_end, angle_increment):
    angle_increment *= np.sign(angle_end-angle_start)
    measurement_angles = list(np.arange(angle_start, angle_end+angle_increment*0.1, angle_increment)) # Using angle_end+angle_increment*0.1 to ensure angle_end is always included
    return measurement_angles

def lat_long_lattice_A_2d(angle1_start, angle1_end, angle1_increment, angle2_start, angle2_end, angle2_increment, angle2_sweep_switching=True):
    """
    Follows latitude longitude lines with (0,0) being the north pole.
    Type A = for every increment made by angle1, a full sweep of angle2 is made.
    """
    measurement_angles=[]
    angles1 = np.arange(angle1_start, angle1_end+angle1_increment*0.001, angle1_increment)
    angles2 = np.arange(angle2_start, angle2_end+angle2_increment*0.001, angle2_increment)
    if angle2_sweep_switching:
            angles2 = np.flip(angles2) 
    for angle1 in angles1:
        if angle2_sweep_switching:
            angles2 = np.flip(angles2) 
        for angle2 in angles2:
            measurement_angles.append([angle1, angle2])
    return measurement_angles

def lat_long_lattice_B_2d(angle1_start, angle1_end, angle1_increment, angle2_start, angle2_end, angle2_increment, angle1_sweep_switching=True):
    """
    Follows latitude longitude lines with (0,0) being the north pole.
    Type A = for every increment made by angle2, a full sweep of angle1 is made
    """
    measurement_angles=[]
    angles1 = np.arange(angle1_start, angle1_end+angle1_increment*0.1, angle1_increment)
    angles2 = np.arange(angle2_start, angle2_end+angle2_increment*0.1, angle2_increment)
    if angle1_sweep_switching:
            angles1 = np.flip(angles2)
    for angle2 in angles2:
        if angle1_sweep_switching:
            angles1 = np.flip(angles2)
        for angle1 in angles1:
            measurement_angles.append([angle1, angle2])
    return measurement_angles


def fast_1d(angle1_start:float, angle1_end:float):
     max_velocity = 20
     return (angle1_start,angle1_end,max_velocity,None,None,None)

def fast_spiral_2d(angle1_start:float, angle1_end:float, spin_count:int):
    max_velocity = 20
    angle2_end = 360*spin_count
    return (angle1_start,angle1_end,max_velocity/(angle2_end/(angle1_end-angle1_start)),0,angle2_end,max_velocity)