Improved step scaling

class SangaDeltaStage(SangaStage):

    def __init__(self, port=None, flex_h=80, flex_a=48, camera_angle=37.5, scale=10, **kwargs):

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

        self.flex_h = flex_h

        self.flex_a = flex_a

        self.flex_b = flex_b

        # Set up camera rotation relative to stage

        camera_theta = (camera_angle/180)*np.pi

        ])

        # Transformation matrix converting delta into cartesian

        x_fac = np.divide(np.divide(2, np.sqrt(3)), self.flex_h)

        y_fac = np.divide(1, self.flex_h)

        z_fac = np.divide(1, self.flex_a)

        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)

        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]

        ]) * scale

        ])

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

        position = np.dot(self.Tvd, self.board.position)

        position = np.dot(np.linalg.inv(self.R_camera), position)

        return position.tolist()

        return [int(p) for p in position]

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

        if axis is not None: