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Final Range of motion tests

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This commit is contained in:
Julian Stirling 2025-10-17 17:31:09 +01:00
parent a935105e56
commit b314ced4f7
2 changed files with 191 additions and 19 deletions
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20
src/openflexure_microscope_server/things/stage_measure.py
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@ -225,7 +225,8 @@ class RangeofMotionThing(lt.Thing):
"""
# Start by performing an autofocus and recording starting position
rom_deps.autofocus.looping_autofocus(dz=1000)
starting_position = list(rom_deps.stage.position.values())
starting_position = rom_deps.stage.position
self._rom_data.stage_coords.append(starting_position)
try:
dir_str = "positive" if direction == 1 else "negative"
@ -233,8 +234,6 @@ class RangeofMotionThing(lt.Thing):
f"Beginning the {axis}-axis in the {dir_str} direction"
)
self._rom_data.stage_coords.append(rom_deps.stage.position)
rom_deps.logger.info("Moving the stage in 5 medium sized steps.")
self._initial_moves_for_z_prediction(
axis=axis,
@ -275,12 +274,7 @@ class RangeofMotionThing(lt.Thing):
self._rom_data.stage_coords[-1] = rom_deps.stage.position
finally:
rom_deps.stage.move_absolute(
x=starting_position[0],
y=starting_position[1],
z=starting_position[2],
block_cancellation=True,
)
rom_deps.stage.move_absolute(**starting_position, block_cancellation=True)
def _img_percentate_to_img_coords(
self, fov_perc: int, axis: Literal["x", "y"]
@ -377,10 +371,10 @@ class RangeofMotionThing(lt.Thing):
) -> bool:
"""Carry out 3 small moves in a given direction and axis.
An image is taken before and after each move to check has moved as far as it
should. If the offset (calculated by cross correlation) is less than expected,
3 attempts are made to refocus the image to ensure that image quality is not
causing the offset to mistakenly be reported as a low value. If the
An image is taken before and after each move to check the stage has moved as
far as it should. If the offset (calculated by cross correlation) is less than
expected, 3 attempts are made to refocus the image to ensure that image quality
is not causing the offset to mistakenly be reported as a low value. If the
calculated offset is still too low then this is taken as an indication that the
edge has been found.