Commit 6dcd6601 authored by Samuel McDermott's avatar Samuel McDermott
Browse files

Include option for delta stage in microscope initialisation

parent 5e9e8cb2

openflexure_microscope/microscope.py

+9 −1
Original line number Diff line number Diff line
@@ -12,7 +12,7 @@ from openflexure_microscope.captures import CaptureManager 


from openflexure_microscope.stage.mock import MissingStage

from openflexure_microscope.camera.mock import MissingCamera

from openflexure_microscope.stage.sanga import SangaStage

from openflexure_microscope.stage.sanga import SangaStage, SangaDeltaStage



try:

    from openflexure_microscope.camera.pi import PiCameraStreamer
@@ -111,10 +111,18 @@ class Microscope: 
            stage_port = configuration["stage"].get("port")

            if stage_type in ("SangaBoard", "SangaStage"):

                try:

                    logging.info("Trying SangaStage")

                    self.stage = SangaStage(port=stage_port)

                except Exception as e:

                    logging.error(e)

                    logging.warning("No compatible Sangaboard hardware found.")

            elif stage_type in ("SangaDeltaStage"):

                try:

                    logging.info("Trying SangaDeltaStage")

                    self.stage = SangaDeltaStage(port=stage_port)

                except Exception as e:

                    logging.error(e)

                    logging.warning("No compatible Sangaboard hardware found.")                    



        logging.info("Handling fallbacks")

        ### Fallbacks

openflexure_microscope/stage/sanga.py

+3 −8
Original line number Diff line number Diff line
@@ -108,10 +108,6 @@ class SangaStage(BaseStage): 
        axis: None (for 3-axis moves) or one of 'x','y','z'

        backlash: (default: True) whether to correct for backlash.

        """



        if axis is not None:

            displacement = self.steps_to_array(displacement, axis)



        with self.lock:

            logging.debug(f"Moving sangaboard by {displacement}")

            if not backlash or self.backlash is None:
@@ -193,7 +189,6 @@ class SangaStage(BaseStage): 
            print("Move completed, raising exception...")

            raise value  # Propagate the exception





class SangaDeltaStage(SangaStage):

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

        self.flex_h = flex_h
@@ -208,13 +203,15 @@ class SangaDeltaStage(SangaStage): 
            [0, 0, 1]

        ])



        logging.debug(self.R_camera)



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



        self.Tvd = np.array([

            [x_fac, -x_fac, 0],

            [-x_fac, x_fac, 0],

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

            [z_fac, z_fac, z_fac]

        ])
@@ -234,8 +231,6 @@ class SangaDeltaStage(SangaStage): 
        return [int(p) for p in position]



    def move_rel(self, displacement, axis=None, backlash=True):

        if axis is not None:

            displacement = self.steps_to_array(displacement, axis)



        # Transform into camera coordinates

        displacement = np.dot(self.R_camera, displacement)