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Added a settle time to all stage moves

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This commit is contained in:
Joel Collins 2020-10-26 14:51:34 +00:00
parent 9b4031ff12
commit 58f7686aea
1 changed files with 13 additions and 1 deletions
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14
openflexure_microscope/stage/sanga.py
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@ -31,6 +31,7 @@ class SangaStage(BaseStage):
self._backlash = (
None # Initialise backlash storage, used by property setter/getter
)
self.settle_time = 0.2 # Default move settle time
self.axis_names = ["x", "y", "z"] # Assume all sangaboards are 3 axis
self._position_on_enter = None
@ -98,11 +99,16 @@ class SangaStage(BaseStage):
# Construct backlash array
backlash = axes_to_array(config["backlash"], ["x", "y", "z"], [0, 0, 0])
self.backlash = backlash
if "settle_time" in config:
self.settle_time = config.get("settle_time")
def read_settings(self) -> dict:
"""Return the current settings as a dictionary"""
blsh = self.backlash.tolist()
config = {"backlash": {"x": blsh[0], "y": blsh[1], "z": blsh[2]}}
config = {
"backlash": {"x": blsh[0], "y": blsh[1], "z": blsh[2]},
"settle_time": self.settle_time,
}
return config
@ -145,6 +151,9 @@ class SangaStage(BaseStage):
# If backlash correction has kicked in and made us overshoot, move
# to the correct end position (i.e. the move we were asked to make)
self.board.move_rel(displacement - initial_move)
# Settle outside of the stage lock so that another move request
# can just take over before settling
time.sleep(self.settle_time)
def move_abs(self, final, **kwargs):
"""Make an absolute move to a position
@ -152,6 +161,9 @@ class SangaStage(BaseStage):
with self.lock:
logging.debug("Moving sangaboard to %s", final)
self.board.move_abs(final, **kwargs)
# Settle outside of the stage lock so that another move request
# can just take over before settling
time.sleep(self.settle_time)
def zero_position(self):
"""Set the current position to zero"""