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Improved step scaling

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This commit is contained in:
Joel Collins 2019-08-07 17:18:37 +01:00
parent d12f0a5362
commit e1df36e8c5
1 changed files with 7 additions and 6 deletions
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13
openflexure_microscope/stage/sanga.py
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@ -219,9 +219,10 @@ class SangaStage(BaseStage):
class SangaDeltaStage(SangaStage): class SangaDeltaStage(SangaStage):
def __init__(self, port=None, flex_h=80, flex_a=48, camera_angle=37.5, scale=10, **kwargs): def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=38, camera_angle=45, **kwargs):
self.flex_h = flex_h self.flex_h = flex_h
self.flex_a = flex_a self.flex_a = flex_a
self.flex_b = flex_b
# Set up camera rotation relative to stage # Set up camera rotation relative to stage
camera_theta = (camera_angle/180)*np.pi camera_theta = (camera_angle/180)*np.pi
@ -232,15 +233,15 @@ class SangaDeltaStage(SangaStage):
]) ])
# Transformation matrix converting delta into cartesian # Transformation matrix converting delta into cartesian
x_fac = np.divide(np.divide(2, np.sqrt(3)), self.flex_h) x_fac = -1 * np.multiply(np.divide(2, np.sqrt(3)), np.divide(self.flex_b, self.flex_h))
y_fac = np.divide(1, self.flex_h) y_fac = -1 * np.divide(self.flex_b, self.flex_h)
z_fac = np.divide(1, self.flex_a) z_fac = np.divide(self.flex_b, self.flex_a)
self.Tvd = np.array([ self.Tvd = np.array([
[x_fac, -x_fac, 0], [x_fac, -x_fac, 0],
[0.5 * y_fac, 0.5 * y_fac, -y_fac], [0.5 * y_fac, 0.5 * y_fac, -y_fac],
[z_fac, z_fac, z_fac] [z_fac, z_fac, z_fac]
]) * scale ])
self.Tdv = np.linalg.inv(self.Tvd) self.Tdv = np.linalg.inv(self.Tvd)
@ -252,7 +253,7 @@ class SangaDeltaStage(SangaStage):
position = np.dot(self.Tvd, self.board.position) position = np.dot(self.Tvd, self.board.position)
position = np.dot(np.linalg.inv(self.R_camera), position) position = np.dot(np.linalg.inv(self.R_camera), position)
return position.tolist() return [int(p) for p in position]
def move_rel(self, displacement, axis=None, backlash=True): def move_rel(self, displacement, axis=None, backlash=True):
if axis is not None: if axis is not None: