From 6dcd6601c417989cf69ce857d0ceac0330718f47 Mon Sep 17 00:00:00 2001 From: Samuel McDermott Date: Sun, 6 Sep 2020 17:38:57 +0100 Subject: [PATCH] Include option for delta stage in microscope initialisation --- openflexure_microscope/microscope.py | 10 +++++++++- openflexure_microscope/stage/sanga.py | 11 +++-------- 2 files changed, 12 insertions(+), 9 deletions(-) diff --git a/openflexure_microscope/microscope.py b/openflexure_microscope/microscope.py index 637d518c..d935afbf 100644 --- a/openflexure_microscope/microscope.py +++ b/openflexure_microscope/microscope.py @@ -12,7 +12,7 @@ from openflexure_microscope.captures import CaptureManager from openflexure_microscope.stage.mock import MissingStage from openflexure_microscope.camera.mock import MissingCamera -from openflexure_microscope.stage.sanga import SangaStage +from openflexure_microscope.stage.sanga import SangaStage, SangaDeltaStage try: from openflexure_microscope.camera.pi import PiCameraStreamer @@ -111,10 +111,18 @@ class Microscope: stage_port = configuration["stage"].get("port") if stage_type in ("SangaBoard", "SangaStage"): try: + logging.info("Trying SangaStage") self.stage = SangaStage(port=stage_port) except Exception as e: logging.error(e) logging.warning("No compatible Sangaboard hardware found.") + elif stage_type in ("SangaDeltaStage"): + try: + logging.info("Trying SangaDeltaStage") + self.stage = SangaDeltaStage(port=stage_port) + except Exception as e: + logging.error(e) + logging.warning("No compatible Sangaboard hardware found.") logging.info("Handling fallbacks") ### Fallbacks diff --git a/openflexure_microscope/stage/sanga.py b/openflexure_microscope/stage/sanga.py index 9cd8cf6b..cf5b063f 100644 --- a/openflexure_microscope/stage/sanga.py +++ b/openflexure_microscope/stage/sanga.py @@ -108,10 +108,6 @@ class SangaStage(BaseStage): axis: None (for 3-axis moves) or one of 'x','y','z' backlash: (default: True) whether to correct for backlash. """ - - if axis is not None: - displacement = self.steps_to_array(displacement, axis) - with self.lock: logging.debug(f"Moving sangaboard by {displacement}") if not backlash or self.backlash is None: @@ -193,7 +189,6 @@ class SangaStage(BaseStage): print("Move completed, raising exception...") raise value # Propagate the exception - class SangaDeltaStage(SangaStage): def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=50, camera_angle=0, **kwargs): self.flex_h = flex_h @@ -208,13 +203,15 @@ class SangaDeltaStage(SangaStage): [0, 0, 1] ]) + logging.debug(self.R_camera) + # 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)) y_fac = -1 * np.divide(self.flex_b, self.flex_h) z_fac = np.multiply(np.divide(1, 3), np.divide(self.flex_b, self.flex_a)) self.Tvd = np.array([ - [x_fac, -x_fac, 0], + [-x_fac, x_fac, 0], [0.5 * y_fac, 0.5 * y_fac, -y_fac], [z_fac, z_fac, z_fac] ]) @@ -234,8 +231,6 @@ class SangaDeltaStage(SangaStage): return [int(p) for p in position] def move_rel(self, displacement, axis=None, backlash=True): - if axis is not None: - displacement = self.steps_to_array(displacement, axis) # Transform into camera coordinates displacement = np.dot(self.R_camera, displacement)