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Kernel: Python 3 (ipykernel)
import numpy as np
import matplotlib.pyplot as plt

from datetime import date

today_str = date.today().strftime("%b-%d-%Y")

Define some constant values

  • gg - gravity (determines units)

  • hh - still water depth

  • aa - target wave amplitude

  • P997 - timestep between paddle moves in ms (typically 20)

g = 9810
h = 80
a = 32
P997 = 10

print(h,a)
80 32

Define functions for solitary wave form (3rd order following Grimshaw)

starting from physical quantites (denoted with tilde), we can define some useful paramaters: a=a~0h~0 a = \frac{\tilde{a}_0}{\tilde{h}_0} ξ=x~h~0 \xi = \frac{\tilde{x}}{\tilde{h}_0} and τ=t~g~0h~0h~0 \tau = \frac{\tilde{t} \sqrt{\tilde{g}_0 \tilde{h}_0}}{\tilde{h}_0} where the subscript naught indicates a constant value. Then, for convienence, we define:

F=1+12a−320a2+356a3F = 1 + \frac{1}{2} a - \frac{3}{20} a^2 + \frac{3}{56} a^3α=34a(1−58a+71128a2)\alpha = \sqrt{\frac{3}{4} a} \left( 1 - \frac{5}{8} a + \frac{71}{128} a^2 \right)

and take ξ0\xi_0 and τ0\tau_0 as some spatial and temporal offset, if needed, to write

s=sech(α((ξ−ξ0)−F(τ−τ0)))s = sech \left( \alpha \left( (\xi - \xi_0) - F (\tau - \tau_0) \right) \right)

then finally retrieve the free surface elevation

η~=h~0(as2−34a2(s2−s4)+a3(58s2−15180s4+10180s6))\tilde{\eta} = \tilde{h}_0 \left( a s^2 - \frac{3}{4} a^2 (s^2 - s^4) + a^3 \left( \frac{5}{8} s^2 - \frac{151}{80} s^4 + \frac{101}{80} s^6 \right) \right)

and the depth averaged flow velocity

u~=Fg~0h~0(η~h~0+η~)\tilde{u} = F \sqrt{\tilde{g}_0 \tilde{h}_0} \left( \frac{\tilde{\eta}}{\tilde{h}_0 + \tilde{\eta}} \right)
def solitary_amp(a0,h0,x,t,xoff=0,toff=0,g=9.81):
    '''Returns the amplitude of a 3rd order solitary wave on a meshgrid or as scalar'''
    assert isinstance(a0, (int, float)) and  isinstance(h0, (int, float)) \
        and isinstance(x, (int, float, np.ndarray)) and isinstance(t, (int, float, np.ndarray)) \
        and isinstance(toff, (int, float)) and isinstance(g, (int, float))
    
    from numpy import sqrt
    from numpy import cosh
    
    a = a0/h0
    c0 = sqrt(g*h0)
    F = 1 + (1/2)*a - (3/20)*(a**2) + (3/56)*(a**3)
    c = c0*F
    alpha = sqrt(3*a/4) * (1 - (5/8)*a + (71/128)*(a**2))
    xi = x/h0
    xioff = xoff/h0
    tau = c0*t/h0
    tauoff = c0*toff/h0
    X, T = np.meshgrid(xi,tau,indexing='ij')
    if X.size == 1 and T.size == 1:
        X = X.ravel()[0]
        T = T.ravel()[0]
    s = 1/(cosh(alpha*((X-xioff) - F*(T - tauoff))))
    return h0*(a*(s**2) - (3/4)*(a**2)*(s**2 - s**4) + (a**3)*( (5/8)*(s**2) - (151/80)*(s**4) + (101/80)*(s**6) ))


def solitary_vel(a0,h0,x,t,xoff=0,toff=0,g=9.81):
    '''Returns the flow velocity of a 3rd order solitary wave on a meshgrid or as scalar'''
    assert isinstance(a0, (int, float)) and  isinstance(h0, (int, float)) \
        and isinstance(x, (int, float, np.ndarray)) and isinstance(t, (int, float, np.ndarray)) \
        and isinstance(toff, (int, float)) and isinstance(g, (int, float))
    from math import sqrt
    eta = solitary_amp(a0,h0,x,t,xoff,toff,g)
    a = a0/h0
    F = 1 + (1/2)*a - (3/20)*(a**2) + (3/56)*(a**3)
    c = sqrt(g*h0)*F
    return (c*eta)/(h0+eta)

Determine the total time for the paddle movement

also determine offset the arrival time of the soliton so that the paddle velocity is initially zero

from math import sqrt

alpha = sqrt((3*a)/(4*h) * (1 - (5/8)*(a/h) + (71/128)*((a/h)**2)))
timescale = h/(alpha*sqrt(g*h))

# pmac usually starts at x=0
x0 = 0
# pmac usually starts at t=0
tmin = 0
# tmax depends on waveform
tmax = 9 * timescale

#time, dt = np.linspace(tmin,tmax,nsteps,retstep=True)
dt = P997/1000
nsteps = int((tmax-tmin)/dt)
time = np.linspace(tmin,nsteps*dt,nsteps)

xoff = 0
toff = 4 * timescale

n_substeps = 100

Check the wave form

eta = solitary_amp(a,h,0,time,xoff,toff,g)
u = solitary_vel(a,h,0,time,xoff,toff,g)

fig, axes = plt.subplots(1,2,figsize=(18,6))

ax = axes[0]
ax.plot(time,eta.ravel())
ax.set_xlabel('time (s)')
ax.set_ylabel('free surface elevation (mm)')
ax.set_title(r'shape of solitary surface eleveation at $x=0$')

ax = axes[1]
ax.plot(time,u.ravel())
ax.set_xlabel('time (s)')
ax.set_ylabel('depth averaged flow velocity (mm/s)')
ax.set_title(r'shape of solitary flow velocity at $x=0$')
Text(0.5, 1.0, 'shape of solitary flow velocity at $x=0$')
Image in a Jupyter notebook

Prepare subroutine for integrating paddle motion

def integrate_solitary_between_pvt_moves(a0,h0,x0,t0,xoff,toff,g,n_substeps,dt):
    ''' returns the paddle position and velocity at the next pvt move '''
    assert isinstance(a0, (int, float)) and isinstance(h0, (int, float)) \
        and isinstance(x0, (int, float)) and isinstance(t0, (int, float)) \
        and isinstance(xoff, (int, float)) and isinstance(toff, (int, float)) \
        and isinstance(g, (int, float)) and isinstance(n_substeps, int)
    
    sub_time, sub_dt = np.linspace(t0,t0+dt,n_substeps,retstep=True)
    
    # initialize values
    x = x0
    u = solitary_vel(a0,h0,x0,t0,xoff,toff,g)
    
    # integrate solitary_vel by Forward-Euler
    for t in sub_time:
        x = x + u*sub_dt
        u = solitary_vel(a0,h0,x,t,xoff,toff,g)
        
    return x, u

Integrate paddle motion

ppmac = np.empty(time.shape)
vpmac = np.empty(time.shape)

x = x0
t0 = time[0]
u = solitary_vel(a,h,x0,t0,xoff,toff,g)

for idx,t in enumerate(time):
    ppmac[idx] = x
    vpmac[idx] = u
    
    x, u = integrate_solitary_between_pvt_moves(a,h,x,t,xoff,toff,g,n_substeps,dt)

Check the paddle motion

fig, axes = plt.subplots(1,3,figsize=(18,6))

ax = axes[0]
ax.plot(time,ppmac.ravel(),'.')
ax.set_xlabel('time (s)')
ax.set_ylabel('paddle position (mm)')
ax.set_title('paddle position vs time')

ax = axes[1]
ax.plot(time,vpmac.ravel(),'.')
ax.set_xlabel('time (s)')
ax.set_ylabel('paddle velocity (mm/s)')
ax.set_title('paddle velocity vs time')

ax = axes[2]
ax.plot(ppmac.ravel(),vpmac.ravel(),'.')
ax.set_xlabel('paddle position (mm)')
ax.set_ylabel('paddle velocity (mm/s)')
ax.set_title('paddle velocity vs paddle position')
Text(0.5, 1.0, 'paddle velocity vs paddle position')
Image in a Jupyter notebook

Check some paddle motion properties

print('the total paddle stroke is:',ppmac[-1],'mm')
print('the max paddle velocity is:',vpmac.max(),'mm/s')
print('the initial paddle velocity is:',vpmac[0],'mm/s')
print('the final paddle velocity is:',vpmac[-1],'mm/s')
the total paddle stroke is: 126.85768307446855 mm the max paddle velocity is: 298.4388936093947 mm/s the initial paddle velocity is: 0.23612944148864606 mm/s the final paddle velocity is: 0.11730780284657663 mm/s 
#np.savetxt('tpmac.txt',time.ravel())
#np.savetxt('ppmac.txt',ppmac.ravel())
#np.savetxt('vpmac.txt',vpmac.ravel())

Finally, write out the motion control programs

the motion control program for paddles 1 through 8

with open(f"sol3rd_h{h}_a{a:02d}_A.pmc", "w") as text_file:
    print("; WAVE TYPE - 3rd Order Solitary Wave", file=text_file)
    print(f"; GRAVITATION CONSTANT - {g}", file=text_file)
    print(f"; WATER DEPTH - {h}", file=text_file)
    print(f"; TARGET AMPLITUDE - {a}", file=text_file)
    print("; FILE A", file=text_file)
    print("; GENERATION DATE - " + today_str, file=text_file)
    print(";", file=text_file)
    print("CLOSE", file=text_file)
    print("DELETE GATHER", file=text_file)
    print("DELETE TRACE", file=text_file)
    print("; M7024 = 1 turns off the TTL from output 1", file=text_file)
    print("M7024=1", file=text_file)
    print("; assign motors and scaling to coordinate system", file=text_file)
    print("&1 A", file=text_file)
    print("; in this case, all motors have the same motion, assign all to X", file=text_file)
    print("; to prevent motor motion, simply comment out the assigment", file=text_file)
    print("; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts", file=text_file)
    print("; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here", file=text_file)
    print(f"#1->{50000/25.4:.6f}X", file=text_file)
    print(f"#2->{50000/25.4:.6f}X", file=text_file)
    print(f"#3->{50000/25.4:.6f}X", file=text_file)
    print(f"#4->{50000/25.4:.6f}X", file=text_file)
    print(f"#5->{50000/25.4:.6f}X", file=text_file)
    print(f"#6->{50000/25.4:.6f}X", file=text_file)
    print(f"#7->{50000/25.4:.6f}X", file=text_file)
    print(f"#8->{50000/25.4:.6f}X", file=text_file)
    print("; redefine motion program 2 ", file=text_file)
    print("OPEN PROG 2 CLEAR", file=text_file)
    print("P997={}".format(P997), file=text_file)
    print("HOMEZ1..8", file=text_file)
    print("ABS", file=text_file)
    print("LINEAR", file=text_file)
    print("TS0", file=text_file)
    print("TA1000", file=text_file)
    print("TM5000", file=text_file)
    print("DWELL5000", file=text_file)
    print("PVT(P997)", file=text_file)
    print("; M7024=0 will turn on the TTL signal from output 1", file=text_file)
    print("M7024=0", file=text_file)
    print("; define motion like X(position):(velocity)", file=text_file)
    for pos, vel in zip(ppmac,vpmac):
        print(f"X({pos:.6f}):({vel:.6f})", file=text_file)
        
    print("DWELL15000 ; dwell time in ms", file=text_file)
    print("; M7024 = 1 turns off the TTL from output 1", file=text_file)
    print("M7024=1", file=text_file)
    print("LINEAR", file=text_file)
    print("TA100", file=text_file)
    print("TS0", file=text_file)
    print("TM1000", file=text_file)
    print("; Comment below to prevent paddles moving back to zero after dwelling", file=text_file)
    print("X0", file=text_file)
    print("CLOSE", file=text_file)
    print("CLOSE", file=text_file)

the motion control program for paddles 9 through 16

with open(f"sol3rd_h{h}_a{a:02d}_B.pmc", "w") as text_file:
    print("; WAVE TYPE - 3rd Order Solitary Wave", file=text_file)
    print(f"; GRAVITATION CONSTANT - {g}", file=text_file)
    print(f"; WATER DEPTH - {h}", file=text_file)
    print(f"; TARGET AMPLITUDE - {a}", file=text_file)
    print("; FILE B", file=text_file)
    print("; GENERATION DATE - " + today_str, file=text_file)
    print(";", file=text_file)
    print("CLOSE", file=text_file)
    print("DELETE GATHER", file=text_file)
    print("DELETE TRACE", file=text_file)
    print("; assign motors and scaling to coordinate system", file=text_file)
    print("&2 A", file=text_file)
    print("; in this case, all motors have the same motion, assign all to X", file=text_file)
    print("; to prevent motor motion, simply comment out the assigment", file=text_file)
    print("; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts", file=text_file)
    print("; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here", file=text_file)
    print(f"#9->{50000/25.4:.6f}X", file=text_file)
    print(f"#10->{50000/25.4:.6f}X", file=text_file)
    print(f"#11->{50000/25.4:.6f}X", file=text_file)
    print(f"#12->{50000/25.4:.6f}X", file=text_file)
    print(f"#13->{50000/25.4:.6f}X", file=text_file)
    print(f"#14->{50000/25.4:.6f}X", file=text_file)
    print(f"#15->{50000/25.4:.6f}X", file=text_file)
    print(f"#16->{50000/25.4:.6f}X", file=text_file)
    print("; redefine motion program 3 ", file=text_file)
    print("OPEN PROG 3 CLEAR", file=text_file)
    print("P997={}".format(P997), file=text_file)
    print("HOMEZ9..16", file=text_file)
    print("ABS", file=text_file)
    print("LINEAR", file=text_file)
    print("TS0", file=text_file)
    print("TA1000", file=text_file)
    print("TM5000", file=text_file)
    print("DWELL5000", file=text_file)
    print("PVT(P997)", file=text_file)
    print("; define motion like X(position):(velocity)", file=text_file)
    for pos, vel in zip(ppmac,vpmac):
        print(f"X({pos:.6f}):({vel:.6f})", file=text_file)
        
    print("DWELL15000 ; dwell time in ms", file=text_file)
    print("LINEAR", file=text_file)
    print("TA100", file=text_file)
    print("TS0", file=text_file)
    print("TM1000", file=text_file)
    print("; Comment below to prevent paddles moving back to zero after dwelling", file=text_file)
    print("X0", file=text_file)
    print("CLOSE", file=text_file)
    print("CLOSE", file=text_file)

Verify file output

tryA_contents = open(f"sol3rd_h{h}_a{a:02d}_A.pmc", 'r').read()
print(tryA_contents)
; WAVE TYPE - 3rd Order Solitary Wave ; GRAVITATION CONSTANT - 9810 ; WATER DEPTH - 80 ; TARGET AMPLITUDE - 32 ; FILE A ; GENERATION DATE - Jul-31-2023 ; CLOSE DELETE GATHER DELETE TRACE ; M7024 = 1 turns off the TTL from output 1 M7024=1 ; assign motors and scaling to coordinate system &1 A ; in this case, all motors have the same motion, assign all to X ; to prevent motor motion, simply comment out the assigment ; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts ; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here #1->1968.503937X #2->1968.503937X #3->1968.503937X #4->1968.503937X #5->1968.503937X #6->1968.503937X #7->1968.503937X #8->1968.503937X ; redefine motion program 2 OPEN PROG 2 CLEAR P997=10 HOMEZ1..8 ABS LINEAR TS0 TA1000 TM5000 DWELL5000 PVT(P997) ; M7024=0 will turn on the TTL signal from output 1 M7024=0 ; define motion like X(position):(velocity) X(0.000000):(0.236129) X(0.002531):(0.266208) X(0.005387):(0.300338) X(0.008608):(0.338838) X(0.012243):(0.382267) X(0.016343):(0.431254) X(0.020969):(0.486509) X(0.026187):(0.548829) X(0.032074):(0.619116) X(0.038715):(0.698383) X(0.046205):(0.787772) X(0.054654):(0.888566) X(0.064184):(1.002213) X(0.074933):(1.130340) X(0.087056):(1.274774) X(0.100727):(1.437575) X(0.116143):(1.621050) X(0.133527):(1.827797) X(0.153126):(2.060726) X(0.175223):(2.323103) X(0.200131):(2.618587) X(0.228205):(2.951277) X(0.259844):(3.325754) X(0.295495):(3.747139) X(0.335660):(4.221145) X(0.380900):(4.754138) X(0.431847):(5.353202) X(0.489207):(6.026199) X(0.553768):(6.781847) X(0.626414):(7.629782) X(0.708127):(8.580630) X(0.800006):(9.646080) X(0.903271):(10.838937) X(1.019276):(12.173187) X(1.149526):(13.664037) X(1.295682):(15.327945) X(1.459580):(17.182625) X(1.643240):(19.247035) X(1.848881):(21.541315) X(2.078929):(24.086707) X(2.336029):(26.905405) X(2.623058):(30.020372) X(2.943123):(33.455080) X(3.299573):(37.233202) X(3.695993):(41.378222) X(4.136204):(45.912987) X(4.624252):(50.859192) X(5.164394):(56.236804) X(5.761077):(62.063433) X(6.418912):(68.353664) X(7.142640):(75.118358) X(7.937088):(82.363932) X(8.807125):(90.091631) X(9.757602):(98.296800) X(10.793292):(106.968163) X(11.918818):(116.087120) X(13.138574):(125.627084) X(14.456645):(135.552867) X(15.876716):(145.820172) X(17.401976):(156.375237) X(19.035025):(167.154698) X(20.777773):(178.085759) X(22.631353):(189.086722) X(24.596030):(200.067938) X(26.671131):(210.933196) X(28.854986):(221.581504) X(31.144888):(231.909186) X(33.537080):(241.812178) X(36.026762):(251.188360) X(38.608122):(259.939779) X(41.274387):(267.974642) X(44.017894):(275.208954) X(46.830177):(281.567788) X(49.702061):(286.986159) X(52.623767):(291.409550) X(55.585019):(294.794171) X(58.575150):(297.107013) X(61.583216):(298.325796) X(64.598098):(298.438894) X(67.608615):(297.445263) X(70.603626):(295.354441) X(73.572138):(292.186592) X(76.503418):(287.972587) X(79.387095):(282.754059) X(82.213275):(276.583373) X(84.972642):(269.523421) X(87.656569):(261.647148) X(90.257210):(253.036756) X(92.767594):(243.782523) X(95.181692):(233.981234) X(97.494481):(223.734260) X(99.701973):(213.145381) X(101.801233):(202.318466) X(103.790364):(191.355161) X(105.668477):(180.352747) X(107.435637):(169.402287) X(109.092791):(158.587153) X(110.641684):(147.981993) X(112.084771):(137.652106) X(113.425119):(127.653213) X(114.666309):(118.031530) X(115.812342):(108.824086) X(116.867553):(100.059203) X(117.836519):(91.757087) X(118.723983):(83.930485) X(119.534785):(76.585381) X(120.273792):(69.721711) X(120.945846):(63.334087) X(121.555709):(57.412530) X(122.108022):(51.943186) X(122.607272):(46.909034) X(123.057759):(42.290559) X(123.463576):(38.066391) X(123.828595):(34.213890) X(124.156455):(30.709675) X(124.450555):(27.530091) X(124.714056):(24.651602) X(124.949886):(22.051124) X(125.160740):(19.706291) X(125.349093):(17.595654) X(125.517208):(15.698839) X(125.667148):(13.996639) X(125.800788):(12.471081) X(125.919829):(11.105446) X(126.025807):(9.884271) X(126.120110):(8.793320) X(126.203988):(7.819546) X(126.278564):(6.951033) X(126.344845):(6.176941) X(126.403737):(5.487431) X(126.456048):(4.873602) X(126.502502):(4.327417) X(126.543746):(3.841637) X(126.580356):(3.409752) X(126.612848):(3.025916) X(126.641681):(2.684892) X(126.667262):(2.381987) X(126.689955):(2.113009) X(126.710086):(1.874209) X(126.727940):(1.662243) X(126.743774):(1.474129) X(126.757816):(1.307208) X(126.770268):(1.159113) X(126.781308):(1.027737) X(126.791097):(0.911205) X(126.799776):(0.807849) X(126.807471):(0.716189) X(126.814292):(0.634905) X(126.820339):(0.562829) X(126.825699):(0.498922) X(126.830451):(0.442260) X(126.834663):(0.392024) X(126.838396):(0.347488) X(126.841705):(0.308006) X(126.844639):(0.273005) X(126.847239):(0.241979) X(126.849543):(0.214476) X(126.851586):(0.190097) X(126.853396):(0.168488) X(126.855000):(0.149334) X(126.856423):(0.132356) X(126.857683):(0.117308) DWELL15000 ; dwell time in ms ; M7024 = 1 turns off the TTL from output 1 M7024=1 LINEAR TA100 TS0 TM1000 ; Comment below to prevent paddles moving back to zero after dwelling X0 CLOSE CLOSE 
tryB_contents = open(f"sol3rd_h{h}_a{a:02d}_B.pmc", 'r').read()
print(tryB_contents)
; WAVE TYPE - 3rd Order Solitary Wave ; GRAVITATION CONSTANT - 9810 ; WATER DEPTH - 80 ; TARGET AMPLITUDE - 32 ; FILE B ; GENERATION DATE - Jul-31-2023 ; CLOSE DELETE GATHER DELETE TRACE ; assign motors and scaling to coordinate system &2 A ; in this case, all motors have the same motion, assign all to X ; to prevent motor motion, simply comment out the assigment ; 1 inch is 50,000 counts therefore 1mm is 1968.50393700787 counts ; the units of X,Y,Z,U,V,W,A,B depend on the scaling defined here #9->1968.503937X #10->1968.503937X #11->1968.503937X #12->1968.503937X #13->1968.503937X #14->1968.503937X #15->1968.503937X #16->1968.503937X ; redefine motion program 3 OPEN PROG 3 CLEAR P997=10 HOMEZ9..16 ABS LINEAR TS0 TA1000 TM5000 DWELL5000 PVT(P997) ; define motion like X(position):(velocity) X(0.000000):(0.236129) X(0.002531):(0.266208) X(0.005387):(0.300338) X(0.008608):(0.338838) X(0.012243):(0.382267) X(0.016343):(0.431254) X(0.020969):(0.486509) X(0.026187):(0.548829) X(0.032074):(0.619116) X(0.038715):(0.698383) X(0.046205):(0.787772) X(0.054654):(0.888566) X(0.064184):(1.002213) X(0.074933):(1.130340) X(0.087056):(1.274774) X(0.100727):(1.437575) X(0.116143):(1.621050) X(0.133527):(1.827797) X(0.153126):(2.060726) X(0.175223):(2.323103) X(0.200131):(2.618587) X(0.228205):(2.951277) X(0.259844):(3.325754) X(0.295495):(3.747139) X(0.335660):(4.221145) X(0.380900):(4.754138) X(0.431847):(5.353202) X(0.489207):(6.026199) X(0.553768):(6.781847) X(0.626414):(7.629782) X(0.708127):(8.580630) X(0.800006):(9.646080) X(0.903271):(10.838937) X(1.019276):(12.173187) X(1.149526):(13.664037) X(1.295682):(15.327945) X(1.459580):(17.182625) X(1.643240):(19.247035) X(1.848881):(21.541315) X(2.078929):(24.086707) X(2.336029):(26.905405) X(2.623058):(30.020372) X(2.943123):(33.455080) X(3.299573):(37.233202) X(3.695993):(41.378222) X(4.136204):(45.912987) X(4.624252):(50.859192) X(5.164394):(56.236804) X(5.761077):(62.063433) X(6.418912):(68.353664) X(7.142640):(75.118358) X(7.937088):(82.363932) X(8.807125):(90.091631) X(9.757602):(98.296800) X(10.793292):(106.968163) X(11.918818):(116.087120) X(13.138574):(125.627084) X(14.456645):(135.552867) X(15.876716):(145.820172) X(17.401976):(156.375237) X(19.035025):(167.154698) X(20.777773):(178.085759) X(22.631353):(189.086722) X(24.596030):(200.067938) X(26.671131):(210.933196) X(28.854986):(221.581504) X(31.144888):(231.909186) X(33.537080):(241.812178) X(36.026762):(251.188360) X(38.608122):(259.939779) X(41.274387):(267.974642) X(44.017894):(275.208954) X(46.830177):(281.567788) X(49.702061):(286.986159) X(52.623767):(291.409550) X(55.585019):(294.794171) X(58.575150):(297.107013) X(61.583216):(298.325796) X(64.598098):(298.438894) X(67.608615):(297.445263) X(70.603626):(295.354441) X(73.572138):(292.186592) X(76.503418):(287.972587) X(79.387095):(282.754059) X(82.213275):(276.583373) X(84.972642):(269.523421) X(87.656569):(261.647148) X(90.257210):(253.036756) X(92.767594):(243.782523) X(95.181692):(233.981234) X(97.494481):(223.734260) X(99.701973):(213.145381) X(101.801233):(202.318466) X(103.790364):(191.355161) X(105.668477):(180.352747) X(107.435637):(169.402287) X(109.092791):(158.587153) X(110.641684):(147.981993) X(112.084771):(137.652106) X(113.425119):(127.653213) X(114.666309):(118.031530) X(115.812342):(108.824086) X(116.867553):(100.059203) X(117.836519):(91.757087) X(118.723983):(83.930485) X(119.534785):(76.585381) X(120.273792):(69.721711) X(120.945846):(63.334087) X(121.555709):(57.412530) X(122.108022):(51.943186) X(122.607272):(46.909034) X(123.057759):(42.290559) X(123.463576):(38.066391) X(123.828595):(34.213890) X(124.156455):(30.709675) X(124.450555):(27.530091) X(124.714056):(24.651602) X(124.949886):(22.051124) X(125.160740):(19.706291) X(125.349093):(17.595654) X(125.517208):(15.698839) X(125.667148):(13.996639) X(125.800788):(12.471081) X(125.919829):(11.105446) X(126.025807):(9.884271) X(126.120110):(8.793320) X(126.203988):(7.819546) X(126.278564):(6.951033) X(126.344845):(6.176941) X(126.403737):(5.487431) X(126.456048):(4.873602) X(126.502502):(4.327417) X(126.543746):(3.841637) X(126.580356):(3.409752) X(126.612848):(3.025916) X(126.641681):(2.684892) X(126.667262):(2.381987) X(126.689955):(2.113009) X(126.710086):(1.874209) X(126.727940):(1.662243) X(126.743774):(1.474129) X(126.757816):(1.307208) X(126.770268):(1.159113) X(126.781308):(1.027737) X(126.791097):(0.911205) X(126.799776):(0.807849) X(126.807471):(0.716189) X(126.814292):(0.634905) X(126.820339):(0.562829) X(126.825699):(0.498922) X(126.830451):(0.442260) X(126.834663):(0.392024) X(126.838396):(0.347488) X(126.841705):(0.308006) X(126.844639):(0.273005) X(126.847239):(0.241979) X(126.849543):(0.214476) X(126.851586):(0.190097) X(126.853396):(0.168488) X(126.855000):(0.149334) X(126.856423):(0.132356) X(126.857683):(0.117308) DWELL15000 ; dwell time in ms LINEAR TA100 TS0 TM1000 ; Comment below to prevent paddles moving back to zero after dwelling X0 CLOSE CLOSE