hzeller/microscope-control
1
0
Fork 0
forked from fafo/microscope-control
Code Pull requests Activity

Make a XYStage trait, and have OpenFlexureStage implement it.

Browse source 
This way, we can have multiple implementations of a stage
that moves in XY direction.

Signed-off-by: Henner Zeller <h.zeller@acm.org>
This commit is contained in:
Henner Zeller 2026-03-08 13:24:25 +01:00
parent cc8152a75d
commit 4f620ad899
3 changed files with 50 additions and 64 deletions
Download patch file Download diff file Expand all files Collapse all files

53
hostcontrol/src/main.rs
View file

@ -1,10 +1,13 @@
use clap::Parser;
use std::{thread::sleep, time::Duration};
mod stage;
mod openflexure_stage;
mod stage_io;
use crate::stage_io::StageIO;
use crate::xy_stage::XYStage;
mod xy_stage;
#[derive(clap::Parser, Debug)]
#[command(version, about, long_about = None)]
@ -22,28 +25,14 @@ fn main() {
let args = CliArgs::parse();
env_logger::init();
let stage_io = StageIO::new(&args.stage_device, args.tty_speed).unwrap();
let mut s = stage::Stage::new(stage_io, 1.12).unwrap();
let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
//println!("{}", s.version().unwrap());
//let a = nalgebra::vector![-10000.0, 0.0, -1250.0];
//let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
//let c = nalgebra::vector![0.0, -15000.0, -250.0];
let mut s = openflexure_stage::OpenFlexureStage::new(stage_io, 1.12).unwrap();
let origin = nalgebra::vector![0.0, 0.0, 0.0];
s.move_absolute_cartesian(origin).unwrap();
sleep(Duration::from_secs(1));
let mut max_xy = s.get_range();
max_xy[2] = 0.0;
s.move_absolute_cartesian(max_xy).unwrap();
sleep(Duration::from_secs(5));
//s.move_absolute_cartesian(origin + a).unwrap();
////sleep(Duration::from_secs(5));
////s.move_absolute_cartesian(origin).unwrap();
////s.move_absolute_cartesian(origin + c).unwrap();
////sleep(Duration::from_secs(5));
////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
////println!("D");
////sleep(Duration::from_secs(5));
////s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
//println!("{:?}", s.get_position_cartesian());
//Ok(())
}
struct App {}
@ -61,25 +50,3 @@ impl eframe::App for App {
});
}
}
//
// let mut s = stage::Stage::new("/dev/ttyACM0", 1.12).unwrap();
// let origin = nalgebra::vector![3000.0, 0.0, -6000.0];
// println!("{}", s.version().unwrap());
//
// let a = nalgebra::vector![18000.0, 0.0, -1250.0];
// let b = nalgebra::vector![18000.0, -15000.0, -1600.0];
// let c = nalgebra::vector![0.0, -15000.0, -250.0];
//
// s.move_absolute_cartesian(origin).unwrap();
// //sleep(Duration::from_secs(5));
// //s.move_absolute_cartesian(origin + a).unwrap();
// //sleep(Duration::from_secs(5));
// //s.move_absolute_cartesian(origin + c).unwrap();
// //sleep(Duration::from_secs(5));
// //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, -16000.0, -500.0]).unwrap();
// //println!("D");
// //sleep(Duration::from_secs(5));
// //s.move_absolute_cartesian(origin + nalgebra::vector![0.0, 0.0, 0.0]).unwrap();
// println!("{:?}", s.get_position_cartesian());
//}