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Include option for delta stage in microscope initialisation

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This commit is contained in:
Samuel McDermott 2020-09-06 17:38:57 +01:00
parent 5e9e8cb2a3
commit 6dcd6601c4
2 changed files with 12 additions and 9 deletions
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11
openflexure_microscope/stage/sanga.py
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@ -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)