Mount_[NOTSAFE].ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "5674566e",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Successfully connected to CEM120\n",
      "Altitude Limit set to -89 degrees\n",
      "Slew rate set to MAX (960x)\n"
     ]
    }
   ],
   "source": [
    "import sys\n",
    "sys.path.append(\"/data/common/software/products/tsmount-umich/python\")\n",
    "import cem120func as cf\n",
    "import time\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "from datetime import datetime\n",
    "\n",
    "diff = lambda array: array[1:] - array[:-1]\n",
    "\n",
    "p = \"/dev/ttyUSB0\"\n",
    "cem120 = cf.initialize_mount(p)\n",
    "cf.set_alt_lim(cem120, -89)\n",
    "cf.slew_rate(cem120, 9)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "7440a872",
   "metadata": {},
   "source": [
    "# 1. Home "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "9ce2c59a",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (206.59, 90.0) deg\n"
     ]
    }
   ],
   "source": [
    "cf.home(cem120)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "90445412",
   "metadata": {},
   "source": [
    "# 2. Positioner UP"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "410a5806",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (161.02, 90.0) deg\n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      "Moving to specified angle...\n",
      "All movement stopped\n"
     ]
    }
   ],
   "source": [
    "#CAM UP\n",
    "\n",
    "cf.home(cem120)\n",
    "\n",
    "# Position 8 - U   -> HOME->7->8 CAM UP  eixo 1  = x\n",
    "cf.move_90(cem120, 0., 1, 1)\n",
    "\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]-324000)%1296000, 0, 1) "
   ]
  },
  {
   "cell_type": "markdown",
   "id": "51914e40",
   "metadata": {},
   "source": [
    "# 3. Positioner DOWN"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "600b2f94",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (198.53, 90.0) deg\n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      "Moving to specified angle...\n",
      "All movement stopped\n"
     ]
    }
   ],
   "source": [
    "# cam DOWN\n",
    "cf.home(cem120)\n",
    "\n",
    "# Position 8b  test HOME->7->8b CAM DOWN  eixo 1 = zbox; sign 0 = right hand\n",
    "cf.move_90(cem120, 0., 1, 0)\n",
    "# printmsg(i); i+=1\n",
    "# time.sleep(tsleep)\n",
    "\n",
    "\n",
    "# Position 7 - R DEITA DE LADO com o vetor z apontando pro pc  eixo 0 = z up\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]-324000)%1296000, 0, 1) "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "3be206b3",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "markdown",
   "id": "f780d713",
   "metadata": {},
   "source": [
    "# Old"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "14acca61",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (144.79, 90.0) deg\n",
      "Moving to specified angle...\n",
      "All movement stopped\n"
     ]
    }
   ],
   "source": [
    "#CAM UP\n",
    "\n",
    "cf.home(cem120)\n",
    "\n",
    "# Position 8 - U   -> HOME->7->8 CAM UP  eixo 1  = x\n",
    "cf.move_90(cem120, 0., 1, 1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "1f7498bf",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Moving to specified angle...\n",
      "All movement stopped\n"
     ]
    }
   ],
   "source": [
    "# Position 7 - R DEITA DE LADO com o vetor z apontando pro pc  eixo 0 = z up\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]-324000)%1296000, 0, 1) "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "ca244407",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (346.77, 90.0) deg\n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      "Moving to specified angle...\n",
      "All movement stopped\n"
     ]
    },
    {
     "ename": "NameError",
     "evalue": "name 'tsleep' is not defined",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m                                 Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-5-3ecec9dc5864>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m      8\u001b[0m \u001b[0mcf\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmove_90\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mcem120\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0.\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      9\u001b[0m \u001b[0;31m# printmsg(i); i+=1\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 10\u001b[0;31m \u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtsleep\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
      "\u001b[0;31mNameError\u001b[0m: name 'tsleep' is not defined"
     ]
    }
   ],
   "source": [
    "# cam DOWN\n",
    "cf.home(cem120)\n",
    "\n",
    "# Position 7 - R DEITA DE LADO com o vetor z apontando pro pc  eixo 0 = z up\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]-324000)%1296000, 0, 1) \n",
    "\n",
    "# Position 8b  test HOME->7->8b CAM DOWN  eixo 1 = zbox; sign 0 = right hand\n",
    "cf.move_90(cem120, 0., 1, 0)\n",
    "# printmsg(i); i+=1\n",
    "# time.sleep(tsleep)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "id": "ceb75a08",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (5.19, 90.0) deg\n"
     ]
    }
   ],
   "source": [
    "cf.home(cem120)\n",
    "# home[0] keeps changing "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "id": "c8ec073d",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[7.1554166666666665, 90.0]"
      ]
     },
     "execution_count": 26,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "[i/3600 for i in cf.get_ra_dec(cem120)]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "adc9ff34",
   "metadata": {},
   "outputs": [],
   "source": [
    "time0 = \"11:15 *time\""
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 32,
   "id": "1274a299",
   "metadata": {},
   "outputs": [],
   "source": [
    "tcalib = [] \n",
    "t = []\n",
    "for i in range(100):\n",
    "    a = cf.get_ra_dec(cem120)[0]\n",
    "    b = time.time()\n",
    "    tcalib.append(a)\n",
    "    t.append( b)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 33,
   "id": "87aad040",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7fb351209630>]"
      ]
     },
     "execution_count": 33,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(t, tcalib)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "59b51845",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "3d7c0abd",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      " Position 0 - Home \n"
     ]
    }
   ],
   "source": [
    "msglist = [\" Position 0 - Home \",\n",
    "\" Position 1 - L \",\n",
    "\" Position 2 - U \",\n",
    "\" Position 3 - D \",\n",
    "\" Position 4 - D \",\n",
    "\" Position 5 - U \",\n",
    "\" Position 6 - R \",\n",
    "\" Position 7 - R \",\n",
    "\" Position 8 - U \",\n",
    "\" Position 9 - D \",\n",
    "\" Position 10 - D \",\n",
    "\" Position 11 - U \",\n",
    "\" Position 12 - L \",\n",
    "\" Position 13 - U \",\n",
    "\" Position 14 - L \",\n",
    "\" Position 15 - R \",\n",
    "\" Position 16 - R \",\n",
    "\" Position 17 - L \",\n",
    "\" Position 18 - Home \",\n",
    "]\n",
    "printmsg = lambda i : print(msglist[i])\n",
    "printmsg(0); i+=1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "ef519bf9",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Altitude Limit set to -89 degrees\n",
      "Slew rate set to MAX (960x)\n",
      "Slewing to home position...\n",
      "Mount stopped at home position\n",
      "home at (346.42, 90.0) deg\n",
      " Position 0 - Home \n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      " Position 1 - L \n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      " Position 2 - U \n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      " Position 3 - D \n",
      "Moving to specified angle...\n",
      "All movement stopped\n",
      " Position 4 - D \n",
      "Moving to specified angle...\n"
     ]
    },
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-5-60557c2b9cbd>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m     35\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     36\u001b[0m \u001b[0;31m# Position 5 - U\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 37\u001b[0;31m \u001b[0mcf\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mmove_90\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mcem120\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m324000\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     38\u001b[0m \u001b[0mprintmsg\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mi\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m;\u001b[0m \u001b[0mi\u001b[0m\u001b[0;34m+=\u001b[0m\u001b[0;36m1\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     39\u001b[0m \u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mtsleep\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/data/common/software/products/tsmount-umich/python/cem120func.py\u001b[0m in \u001b[0;36mmove_90\u001b[0;34m(ser, angle, axis, sign)\u001b[0m\n\u001b[1;32m    382\u001b[0m     \u001b[0;32mwhile\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    383\u001b[0m         \u001b[0mi\u001b[0m \u001b[0;34m+=\u001b[0m \u001b[0;36m1\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 384\u001b[0;31m         \u001b[0mpos\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mget_ra_dec\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mser\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    385\u001b[0m         \u001b[0mdev\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mabs\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mangle\u001b[0m\u001b[0;34m-\u001b[0m\u001b[0mpos\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0maxis\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0;36m1e6\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    386\u001b[0m         \u001b[0;31m#if i % 75 == 0: print(dev, 2**(n-14))\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/data/common/software/products/tsmount-umich/python/cem120func.py\u001b[0m in \u001b[0;36mget_ra_dec\u001b[0;34m(ser)\u001b[0m\n\u001b[1;32m     43\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mis_open\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     44\u001b[0m         \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34mb':GEP#'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 45\u001b[0;31m         \u001b[0mreply\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m21\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdecode\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'ascii'\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     46\u001b[0m         \u001b[0mdec\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mreply\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;36m9\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0;36m100.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     47\u001b[0m         \u001b[0mra\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mreply\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m9\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;36m18\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m/\u001b[0m\u001b[0;36m100.\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/data/common/software/products/python-3.6.15.Linux64/lib/python3.6/site-packages/serial/serialposix.py\u001b[0m in \u001b[0;36mread\u001b[0;34m(self, size)\u001b[0m\n\u001b[1;32m    563\u001b[0m         \u001b[0;32mwhile\u001b[0m \u001b[0mlen\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;34m<\u001b[0m \u001b[0msize\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    564\u001b[0m             \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 565\u001b[0;31m                 \u001b[0mready\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0m_\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mselect\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mselect\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfd\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpipe_abort_read_r\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m[\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtimeout\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtime_left\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    566\u001b[0m                 \u001b[0;32mif\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpipe_abort_read_r\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mready\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    567\u001b[0m                     \u001b[0mos\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpipe_abort_read_r\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m1000\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    }
   ],
   "source": [
    "tsleep = 1\n",
    "\n",
    "\n",
    "cf.set_alt_lim(cem120, -89)\n",
    "cf.slew_rate(cem120, 9)\n",
    "\n",
    "# L/R = +/- RA\n",
    "# U/D = -/+ Dec\n",
    "\n",
    "i=0 \n",
    "# Position 0 - Home\n",
    "cf.home(cem120)\n",
    "printmsg(i); i+=1\n",
    "\n",
    "\n",
    "# Position 1 - L\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]+324000)%1296000, 0, 0)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 2 - U\n",
    "cf.move_90(cem120, 0, 1, 1)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 3 - D\n",
    "cf.move_90(cem120, 324000, 1, 0)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 4 - D\n",
    "cf.move_90(cem120, 0, 1, 0)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 5 - U\n",
    "cf.move_90(cem120, 324000, 1, 1)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 6 - R\n",
    "cf.home(cem120)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 7 - R\n",
    "cf.move_90(cem120, (cf.get_ra_dec(cem120)[0]-324000)%1296000, 0, 1)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 8 - U\n",
    "cf.move_90(cem120, 0, 1, 1)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 9 - D\n",
    "cf.move_90(cem120, 324000, 1, 0)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n",
    "\n",
    "# Position 10 - D\n",
    "cf.move_90(cem120, 0, 1, 0)\n",
    "printmsg(i); i+=1\n",
    "time.sleep(tsleep)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "404f49c4",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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