Update user_guide.md

parent ad0db73a
......@@ -203,11 +203,11 @@ The `MecaRobot.linear_sequence()` command moves the robot along a `direction_vec
The `MecaRobot.start_tracking() `and `MecaRobot.stop_tracking()` methods enable and disable the tracking mode, in which the robot TRF position is written in the *Data/tracking_data.txt* at every step during a `linear_sequence`. Here, there will be 20 points in the file, as such
> Time [s], TRF position [mm]
> 4.409159898757935, [205. 0. 200.]
> 4.805260896682739, [210. 0. 200.]
> ...
> 11.559047222137451, [295. 0. 200.]
> Time [s], TRF position [mm]\
> 4.409159898757935, [205. 0. 200.]\
> 4.805260896682739, [210. 0. 200.]\
> ...\
> 11.559047222137451, [295. 0. 200.]\
> 11.95528769493103, [300. 0. 200.]
We can notice that there is more than 0.1 s between the positions. This is because in addition to the 0.1 s the robot waits between the steps, the robot also takes some time to move to the next point. We can also notice that the starting position (200, 0, 200) is not tracked.
......@@ -271,17 +271,17 @@ The `move_position_relative_to_source` method is used to move the robot to a giv
Because the tracking mode is enabled, 8 new files will be created in the Data folder. The `general_info.txt` file contains the date and time at which the program was run as well as the source position, and the `time.txt` file contains the time at every step during linear sequences. For each scintillator, there is a `scintillator_x_position_relative_to_source.txt` file and `scintillator_x_distance_to_source.txt ` file, which contains the scintillator positions at every step during linear sequences. For example, the `scintillator_1_position_relative_to_source.txt` file will have 10 lines, as such
>-55. , 0. , 100.
>-50. , 0. , 100.
>...
>-15. , 0. , 100.
>-55. , 0. , 100.\
>-50. , 0. , 100.\
>...\
>-15. , 0. , 100.\
>-10. , 0. , 100.
The scintillator 1 is the highest scintillator, and because the robot was moved so that the lowest scintillator is at the source height, the scintillator 1 is 100 mm above the source.
##### 7 - Turn around source
The following code turns the robot around the source. The result is shown [here]( `https://www.youtube.com/watch?v=k-IdHareEhg` ).
The following code turns the robot around the source. The result is shown [here](https://www.youtube.com/watch?v=k-IdHareEhg).
```python
robot = MecaRobotForDosimetry(scintillators_positions=np.array([[5,0,-200], [5,0,-250], [5,0,-300]]), source_position=np.array([250,0,-90]))
......
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