rahix/openflexure-microscope-server
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Read Sangaboard step time from board

Browse source
This commit is contained in:
Julian Stirling 2026-02-16 17:46:47 +00:00
parent 7ed718cbae
commit 10f73cfb76
1 changed files with 6 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/openflexure_microscope_server/things/stage/sangaboard.py
View file

@ -47,6 +47,8 @@ class SangaboardThing(BaseStage):
""" """
self.sangaboard_kwargs = copy(kwargs) self.sangaboard_kwargs = copy(kwargs)
self.sangaboard_kwargs["port"] = port self.sangaboard_kwargs["port"] = port
# Set a default step time, before reading on enter.
self._step_time = 0.001
super().__init__(thing_server_interface, **kwargs) super().__init__(thing_server_interface, **kwargs)
@ -55,8 +57,11 @@ class SangaboardThing(BaseStage):
self._sangaboard = sangaboard.Sangaboard(**self.sangaboard_kwargs) self._sangaboard = sangaboard.Sangaboard(**self.sangaboard_kwargs)
with self._hardware_lock: with self._hardware_lock:
self._sangaboard.query("blocking_moves false") self._sangaboard.query("blocking_moves false")
# Read step time only on enter as there is no provision for changing speed.
self._step_time = self._sangaboard.step_time * 1e-6
self.check_firmware() self.check_firmware()
self.update_position() self.update_position()
return self return self
def __exit__( def __exit__(
@ -141,7 +146,7 @@ class SangaboardThing(BaseStage):
"""Calculate the expected duration of a move with the given displacement.""" """Calculate the expected duration of a move with the given displacement."""
max_displacement = max(abs(d) for d in displacement) max_displacement = max(abs(d) for d in displacement)
# This does not yet check the board's speed. # This does not yet check the board's speed.
return max_displacement * 0.001 return max_displacement * self._step_time
def _hardware_move_relative( def _hardware_move_relative(
self, self,