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Use blocking, non-cancellable moves in autofocus

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Autofocus timing is pretty critical. I've introduced the ability
to abort moves, which introduces ~50ms timing jitter. This
commit reverts the tming-critical move in autofocus to the old behaviour.

I've only reverted the move that really matters - this means
that if you start a massive sweep by accident, you can still
abort it when it's moving down to the start of the sweep.
This commit is contained in:
Richard Bowman 2024-01-04 10:46:27 +00:00
parent 8e2402af18
commit 91cb514e08
1 changed files with 1 additions and 1 deletions
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src/openflexure_microscope_server/things/autofocus.py
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@ -157,7 +157,7 @@ class AutofocusThing(Thing):
# Move to dz while monitoring sharpness # Move to dz while monitoring sharpness
# i: Sharpness monitor index for this move # i: Sharpness monitor index for this move
# z: Final z position after move # z: Final z position after move
i, z = m.focus_rel(dz) i, z = m.focus_rel(dz, block_cancellation=True)
# Get the z position with highest sharpness from the previous move (index i) # Get the z position with highest sharpness from the previous move (index i)
fz: int = m.sharpest_z_on_move(i) fz: int = m.sharpest_z_on_move(i)
# Move all the way to the start so it's consistent # Move all the way to the start so it's consistent