Commit 5e7e2abc authored by Joel Collins's avatar Joel Collins
Browse files

Fixed broken z scaling

parent e1df36e8

openflexure_microscope/stage/sanga.py

+4 −2
Original line number Diff line number Diff line
@@ -219,7 +219,7 @@ class SangaStage(BaseStage): 




class SangaDeltaStage(SangaStage):

    def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=38, camera_angle=45, **kwargs):

    def __init__(self, port=None, flex_h=80, flex_a=50, flex_b=50, camera_angle=0, **kwargs):

        self.flex_h = flex_h

        self.flex_a = flex_a

        self.flex_b = flex_b
@@ -235,15 +235,17 @@ class SangaDeltaStage(SangaStage): 
        # Transformation matrix converting delta into cartesian

        x_fac = -1 * np.multiply(np.divide(2, np.sqrt(3)), np.divide(self.flex_b, self.flex_h))

        y_fac = -1 * np.divide(self.flex_b, self.flex_h)

        z_fac = np.divide(self.flex_b, self.flex_a)

        z_fac = np.multiply(np.divide(1, 3), np.divide(self.flex_b, self.flex_a))



        self.Tvd = np.array([

            [x_fac, -x_fac, 0],

            [0.5 * y_fac, 0.5 * y_fac, -y_fac],

            [z_fac, z_fac, z_fac]

        ])

        logging.debug(self.Tvd)



        self.Tdv = np.linalg.inv(self.Tvd)

        logging.debug(self.Tdv)



        SangaStage.__init__(self, port=port, **kwargs)