Update documentation.md

parent 13360453
......@@ -228,6 +228,16 @@ Every time the robot stops during a linear, square or cube sequence, the scintil
Stops tracking and closes all the files.
**MecaRobotForDosimetry.get_scintillators_signal**()
Reads one sample of the NI DAQ board to get the scintillators' signal.
Return:
- **scintillators_signal : *np.ndarray***
Array of the signal channels.
**MecaRobotForDosimetry.get_scintillators_positions**()
Returns an array of the position of each scintillator in relation to the base of the robot (world reference frame) (in mm).
......@@ -258,6 +268,10 @@ Parameters:
Current source position relative to the tool reference frame (TRF), which is the lowest scintillator by default (in mm).
**MecaRobotForDosimetry.find_source_position**()
Automatically finds the source's position by moving along every axis near the source until we get the maximum signal. This assumes that an estimate of the source position as already been set, as it will move around this point to find the maximum. An example of the robot movements during the calibration procedure is shown [here](https://www.youtube.com/watch?v=5iPs_rH62hA).
**MecaRobotForDosimetry.move_position_relative_to_source**(*position*)
Moves the tool reference (TRF), which is the lowest scintillator by default, to a given position in the form (x,y,z) relative to the source position.
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