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Fixed broken z scaling

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This commit is contained in:
Joel Collins 2019-08-07 17:38:08 +01:00
parent e1df36e8c5
commit 5e7e2abc62
1 changed files with 4 additions and 2 deletions
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6
openflexure_microscope/stage/sanga.py
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@ -219,7 +219,7 @@ class SangaStage(BaseStage):
class SangaDeltaStage(SangaStage): class SangaDeltaStage(SangaStage):
def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=38, camera_angle=45, **kwargs): def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=50, camera_angle=0, **kwargs):
self.flex_h = flex_h self.flex_h = flex_h
self.flex_a = flex_a self.flex_a = flex_a
self.flex_b = flex_b self.flex_b = flex_b
@ -235,15 +235,17 @@ class SangaDeltaStage(SangaStage):
# Transformation matrix converting delta into cartesian # Transformation matrix converting delta into cartesian
x_fac = -1 * np.multiply(np.divide(2, np.sqrt(3)), np.divide(self.flex_b, self.flex_h)) x_fac = -1 * np.multiply(np.divide(2, np.sqrt(3)), np.divide(self.flex_b, self.flex_h))
y_fac = -1 * np.divide(self.flex_b, self.flex_h) y_fac = -1 * np.divide(self.flex_b, self.flex_h)
z_fac = np.divide(self.flex_b, self.flex_a) z_fac = np.multiply(np.divide(1, 3), np.divide(self.flex_b, self.flex_a))
self.Tvd = np.array([ self.Tvd = np.array([
[x_fac, -x_fac, 0], [x_fac, -x_fac, 0],
[0.5 * y_fac, 0.5 * y_fac, -y_fac], [0.5 * y_fac, 0.5 * y_fac, -y_fac],
[z_fac, z_fac, z_fac] [z_fac, z_fac, z_fac]
]) ])
logging.debug(self.Tvd)
self.Tdv = np.linalg.inv(self.Tvd) self.Tdv = np.linalg.inv(self.Tvd)
logging.debug(self.Tdv)
SangaStage.__init__(self, port=port, **kwargs) SangaStage.__init__(self, port=port, **kwargs)