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Fixed setting Iterable vs Int backlash

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This commit is contained in:
Joel Collins 2019-05-28 09:28:08 +01:00
parent 5e34b998dd
commit 60c49a8331
1 changed files with 8 additions and 2 deletions
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10
openflexure_microscope/stage/sanga.py
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@ -1,5 +1,7 @@
import numpy as np import numpy as np
import time import time
import logging
from collections.abc import Iterable
from .sangaboard import Sangaboard from .sangaboard import Sangaboard
from openflexure_microscope.stage.base import BaseStage from openflexure_microscope.stage.base import BaseStage
@ -69,10 +71,14 @@ class SangaStage(BaseStage):
@backlash.setter @backlash.setter
def backlash(self, blsh): def backlash(self, blsh):
logging.debug("Setting backlash to {}".format(blsh))
if blsh is None: if blsh is None:
self._backlash = None self._backlash = None
assert len(blsh) == self.n_axes elif isinstance(blsh, Iterable):
self._backlash = np.array([int(blsh)]*self.n_axes, dtype=np.int) assert len(blsh) == self.n_axes
self._backlash = np.array(blsh)
else:
self._backlash = np.array([int(blsh)]*self.n_axes, dtype=np.int)
def move_rel(self, displacement, axis=None, backlash=True): def move_rel(self, displacement, axis=None, backlash=True):
"""Make a relative move, optionally correcting for backlash. """Make a relative move, optionally correcting for backlash.