Code formatting

from functools import partial

def backlash_corrected_move(get_position, move, backlash_amount, pos):

    """Make two moves, arriving at `pos` from a consistent direction"""

    displacement = pos - get_position()

        move(pos - backlash_vector)

    move(pos)

def bake_backlash_corrected_move(get_position, move, backlash_amount):

    """Return a function that performs backlash-corrected moves"""

    return partial(backlash_corrected_move, get_position, move, backlash_amount)

def calibrate_xy_grid(tracker, move, step=100, n_steps=4, backlash_compensation=0):

    """Make a series of moves in X and Y to determine the XY components of the pixel-to-sample matrix.

    image_positions -= np.mean(image_positions, axis=0)

    # image_positions *= -1 # To get the matrix right, we want the position of each

    # image relative to the template, rather than the other way around

    A, res, rank, s = np.linalg.lstsq(image_positions, stage_positions) # we solve pixel_shifts*A = location_shifts

    A, res, rank, s = np.linalg.lstsq(

        image_positions, stage_positions

    )  # we solve pixel_shifts*A = location_shifts

    transformed_image_positions = np.dot(image_positions, A)

    residuals = transformed_image_positions - stage_positions

    fractional_error = norm(residuals) / stage_positions.shape[0] step

    fractional_error = norm(residuals) / stage_positions.shape[0]

    print(f"Ratio of residuals to displacement is {fractional_error})")

    if fractional_error > 0.05:  # Check it was a reasonably good fit

        print("Warning: the error fitting measured displacements was %.1f%%" % (fractional_error*100))

    print(f"Calibrated the pixel-location matrix.\nResiduals were {fractional_error*100:.1f}% of the shift.")

        print(

            "Warning: the error fitting measured displacements was %.1f%%"

            % (fractional_error * 100)

        )

    print(

        f"Calibrated the pixel-location matrix.\nResiduals were {fractional_error*100:.1f}% of the shift."

    )

    return {

        "image_to_stage_displacement": A,

        "moves": (stage_positions, image_positions),

        "fractional_error": fractional_error

        "fractional_error": fractional_error,

    }