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Adjust algorithm to start checks for centre after first 5 mendium sized moves & improve logging.

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This commit is contained in:
Julian Stirling 2025-11-11 12:51:04 +00:00
parent b8742b449c
commit ed9b8ff01d
1 changed files with 7 additions and 6 deletions
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13
src/openflexure_microscope_server/things/stage_measure.py
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@ -244,6 +244,9 @@ class RangeofMotionThing(lt.Thing):
for axis in axes:
self._recentre_axis(axis, rom_deps)
centre = rom_deps.stage.position
centre_str = f"({centre['x']}, {centre['y']})"
rom_deps.logger.info(f"Centre is estimated at {centre_str}.")
# Set the central position to (0,0,0)
rom_deps.stage.set_zero_position()
rom_deps.logger.info("Position reset to (0, 0, 0).")
@ -357,12 +360,10 @@ class RangeofMotionThing(lt.Thing):
rom_deps=rom_deps,
n_moves=5 if i == 1 else 2,
)
# Try to estimate position/direction the first time, skip to making a big
# move in the same direction
if i > 1:
centred, direction = self._recentre_decision(axis, rom_deps)
if centred:
break
centred, direction = self._recentre_decision(axis, rom_deps)
if centred:
break
# If still going at iteration 9 exit
if i > 9: