Added a settle time to all stage moves (58f7686a) · Commits · OpenFlexure / openflexure-microscope-server

openflexure_microscope/stage/sanga.py

+13 −1

Original line number	Diff line number	Diff line
		@@ -31,6 +31,7 @@ class SangaStage(BaseStage):
		self._backlash = (
		None # Initialise backlash storage, used by property setter/getter
		)
		self.settle_time = 0.2 # Default move settle time
		self.axis_names = ["x", "y", "z"] # Assume all sangaboards are 3 axis

		self._position_on_enter = None
		@@ -98,11 +99,16 @@ class SangaStage(BaseStage):
		# Construct backlash array
		backlash = axes_to_array(config["backlash"], ["x", "y", "z"], [0, 0, 0])
		self.backlash = backlash
		if "settle_time" in config:
		self.settle_time = config.get("settle_time")

		def read_settings(self) -> dict:
		"""Return the current settings as a dictionary"""
		blsh = self.backlash.tolist()
		config = {"backlash": {"x": blsh[0], "y": blsh[1], "z": blsh[2]}}
		config = {
		"backlash": {"x": blsh[0], "y": blsh[1], "z": blsh[2]},
		"settle_time": self.settle_time,
		}

		return config

		@@ -145,6 +151,9 @@ class SangaStage(BaseStage):
		# If backlash correction has kicked in and made us overshoot, move
		# to the correct end position (i.e. the move we were asked to make)
		self.board.move_rel(displacement - initial_move)
		# Settle outside of the stage lock so that another move request
		# can just take over before settling
		time.sleep(self.settle_time)

		def move_abs(self, final, **kwargs):
		"""Make an absolute move to a position
		@@ -152,6 +161,9 @@ class SangaStage(BaseStage):
		with self.lock:
		logging.debug("Moving sangaboard to %s", final)
		self.board.move_abs(final, **kwargs)
		# Settle outside of the stage lock so that another move request
		# can just take over before settling
		time.sleep(self.settle_time)

		def zero_position(self):
		"""Set the current position to zero"""