Parisitic motion is now tracked with an exception
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Chish36
Julian Stirling
parent
23d53949b4
commit
1c7527c2ef
1 changed files with 25 additions and 29 deletions
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@ -28,6 +28,8 @@ The range of motion is measured by first taking 5 'medium' sized steps which giv
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'small' steps to test that the stage is still moving as expected and has not reached the edge. Once the edge has been found and too account for the possibility that a 'big'
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step was take just before the edge was reached, the stage is moved in a sequence of increasing pixel sizes in the opposite direction until motion is detected. This is
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position is taken as the true final position.
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Throughout the test, parasitic motion(motion in the axis not being measured) is tracked and an error is raised if it exceeds a reasonable amount.
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'''
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def quadratic(x, a, b, c):
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@ -78,7 +80,14 @@ def predict_z(positions: list, axis: str, relative_move: float, stage: StageDep,
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return z_diff
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def move_and_measure(step_size: dict[str, float], axis: str, delta: dict[str, int], image1, autofocus_proc: bool, focus_data: list[float], csm: CSMDep, autofocus: AutofocusDep, cam:CamDep) -> tuple:
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def move_and_measure(
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step_size: dict[str, float],
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axis: str, delta: dict[str, int],
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image1, autofocus_proc: bool,
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focus_data: list[float],
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csm: CSMDep,
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autofocus: AutofocusDep,
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cam:CamDep) -> tuple:
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"""Moves the stage and measures the offset between the two positions.
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:params step_size: A dictionary with keys 'x' and 'y' with pixel distances.
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@ -127,10 +136,9 @@ def medium_moves(
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:params focus_data: A list of focus data returned by the autofocus procedure.
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:params stage_coords: A list of all previous positions the stage has been.
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:params cor_lat_steps: A list of all correlation values.
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:return: Stage_coords and cor_lat_steps are lists of data tracked throughout the test. Delta and parasitic_motion are updated and tracked after each move.
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:return: Stage_coords and cor_lat_steps are lists of data tracked throughout the test. Delta is updated and tracked after each move.
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"""
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parasitic_motion = False
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medium_step = 50
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wrong_axis_max_medium = dict_generate(
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medium_step, stream_resolution, direction, factor=0.1
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@ -154,13 +162,8 @@ def medium_moves(
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stage_coords.append(stage.position)
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cor_lat_steps.append(offset)
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if np.abs(delta[wrong_axis]) > np.abs(wrong_axis_max_medium[wrong_axis]):
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logger.info(
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f"Parasitic motion detected in {wrong_axis}-axis whilst measuring {axis}-axis."
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)
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parasitic_motion = True
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break
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return stage_coords, cor_lat_steps, delta, parasitic_motion
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assert(np.abs(delta[wrong_axis]) < np.abs(wrong_axis_max_medium[wrong_axis]))
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return stage_coords, cor_lat_steps, delta
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def small_moves(
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small_step: int,
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@ -189,11 +192,10 @@ def small_moves(
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:params stage_coords: A list of all previous positions the stage has been.
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:params cor_lat_steps: A list of all correlation values.
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:params minimum_offset_small: A dictionary containing the minimum values for a successful correlation.
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:return: Stage_coords and cor_lat_steps are lists of data tracked throughout the test. Delta and parasitic_motion are updated and tracked after each move.
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:return: Stage_coords and cor_lat_steps are lists of data tracked throughout the test. Delta is updated and tracked after each move.
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"""
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failure_count = 0
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wrong_axis_max_small = dict_generate(small_step, stream_resolution, direction, factor=0.1)
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parasitic_motion = False
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for loop in range(3):
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image1 = cv2.resize(
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@ -243,17 +245,12 @@ def small_moves(
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stage_coords.append(stage.position)
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cor_lat_steps.append(offset)
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if np.abs(delta[wrong_axis]) > np.abs(wrong_axis_max_small[wrong_axis]):
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logger.info(
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f"Parasitic motion detected in {wrong_axis}-axis whilst measuring {axis}-axis."
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)
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parasitic_motion = True
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break
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assert np.abs(delta[wrong_axis]) < np.abs(wrong_axis_max_small[wrong_axis])
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if np.abs(delta[axis]) < np.abs(minimum_offset_small[axis]): # this means the edge has been found
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logger.info("Edge has been found.")
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break
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return stage_coords, cor_lat_steps, delta, parasitic_motion
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return stage_coords, cor_lat_steps, delta
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def motion_detection(axis: str, direction: int, csm: CSMDep, stage: StageDep, cam: CamDep, logger: InvocationLogger) -> dict:
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"""Moves the stage until motion is detected. This happens at the end of each axis and direction and where the stage is moved in the opposite direction until
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@ -318,6 +315,10 @@ class RangeofMotionThing(Thing):
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starting_position = list(stage.position.values())
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stage_coords = []
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cor_lat_steps = []
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axis_results = {}
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try:
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if direction == 1:
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dir_word = "positive"
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@ -326,10 +327,6 @@ class RangeofMotionThing(Thing):
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logger.info(f"Beginning the {axis}-axis in the {dir_word} direction")
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stage_coords = []
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cor_lat_steps = []
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axis_results = {}
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# Generate required dictionaries for step sizes and minimum offsets
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stream_resolution = cam.stream_resolution
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@ -342,13 +339,11 @@ class RangeofMotionThing(Thing):
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'y':0
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}
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parasitic_motion = False
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stage_coords.append(stage.position)
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logger.info("Moving the stage in 5 medium sized steps.")
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stage_coords, cor_lat_steps, delta, parasitic_motion = medium_moves(
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stage_coords, cor_lat_steps, delta = medium_moves(
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stream_resolution=stream_resolution,
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direction=direction,
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axis=axis,
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@ -369,7 +364,7 @@ class RangeofMotionThing(Thing):
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small_step, stream_resolution, direction, factor=0.65
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)
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while np.abs(delta[axis]) > np.abs(minimum_offset_small[axis]) and not parasitic_motion:
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while np.abs(delta[axis]) > np.abs(minimum_offset_small[axis]):
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z_diff = predict_z(positions = stage_coords, axis = axis, relative_move = step_sizes_big[axis], stage = stage, csm = csm)
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logger.info("Z calibration complete.")
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@ -387,7 +382,7 @@ class RangeofMotionThing(Thing):
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stage_coords.append(stage.position)
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stage_coords, cor_lat_steps, delta, parasitic_motion = small_moves(
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stage_coords, cor_lat_steps, delta = small_moves(
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small_step=small_step,
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stream_resolution=stream_resolution,
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direction=direction,
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@ -416,7 +411,8 @@ class RangeofMotionThing(Thing):
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"stage_positions": stage_coords,
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"final_position": final_pos
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}
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except AssertionError:
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logger.info("Parasitic motion detected.")
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finally:
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stage.move_absolute(x = starting_position[0], y = starting_position[1], z = starting_position[2], block_cancellation=True)
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