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Update __init__.py
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@kzhao1228
kzhao1228 authored May 31, 2020
1 parent fc440be commit 6ecc1f4
Showing 1 changed file with 248 additions and 37 deletions.
285 changes: 248 additions & 37 deletions stage/motor_ctrl/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -263,7 +263,7 @@ def set_pos(self, new_value, blocking = False):
new_value : float or int
absolute position the stage will be moved to
blocking : bool
wait unil completion of moving
not wait unil completion of moving
Default: False
Examples
Expand All @@ -285,16 +285,93 @@ def set_pos(self, new_value, blocking = False):
new_value = self.pos
else:
raise TypeError('Position value must be an integer or a float')

absolute_distance = int(new_value * self._EncCnt)
self._port.send_message(MGMSG_MOT_MOVE_ABSOLUTE_long(chan_ident = self._chan_ident, absolute_distance = absolute_distance))
# convert position using EncCnt scaling factor
abs_dist = int(new_value * self._EncCnt)
if not blocking:
time.sleep(0.3)
while self.is_in_motion:
# if the desired position is the same as the current position of the stage, no command sent out in this case
if abs_dist == self._state_position:
pass
time.sleep(0.8)



else:
pos_ini = self.pos
self._port.send_message(MGMSG_MOT_MOVE_ABSOLUTE_long(chan_ident = self._chan_ident, \
absolute_distance = abs_dist))
time_ini = time.time()
while not self.is_in_motion:
if abs(abs_dist - pos_ini*self._EncCnt) == 1:
break
if time.time() - time_ini >= 2:
break
time_ini = time.time()
while True:
if not bool(sum([self.is_in_motion for i in range(10)])):
break
if time.time() - time_ini >= 20:
raise Exception('Unable to move the stage to the new position')
param_ini = 0
while True:
if sum([self._state_position for i in range(10)])/10 == abs_dist:
break
elif time.time() - time_ini >= 30:
raise Exception('Unable to move the stage to the new position')
else:
if param_ini == 0 and abs_dist != 0:
self._port.send_message(MGMSG_MOT_MOVE_ABSOLUTE_long(chan_ident = \
self._chan_ident, absolute_distance = abs_dist))
if param_ini == 0 and abs_dist == 0:
self.move_home()
param_ini += 1
if blocking:
self._port.send_message(MGMSG_MOT_MOVE_ABSOLUTE_long(chan_ident = self._chan_ident, \
absolute_distance = abs_dist))

'''
# if the desired position is different from the stage's current position
else:
# initial position
pos_ini = self.pos
# send out command
self._port.send_message(MGMSG_MOT_MOVE_ABSOLUTE_long(chan_ident = self._chan_ident, absolute_distance = absolute_distance))
# 1. setting new position command takes some time to reach the controller
# and it also takes some time for the controller to execute
# the command. we let the subsequent motion status check
# happen until the motor starts moving
print('0: ',self.vel)
time_ini = time.time()
while (abs(pos_ini - self.pos) == 0) or self.vel == 0:
if abs(absolute_distance - pos_ini*self._EncCnt) == 1:
break
elif (time.time() - time_ini) >= 20:
raise Exception('Setting new position failed')
print('1: ',self.vel, self.pos)
# 2. then we wait until stage arrives at the new position
while self.is_in_motion:
pass
print('2: ',self.is_in_motion)
print('3: ',self.pos)
# 3. when controller says stage isn't in motion, it doesn't necessarily
# mean the stage has arrived at the desired position. The motion may
# still continue for a little while, in a small scale, trying to carry out
# some fine adjustments on stage position. We here use a while loop
# to wait until everything is done.
while abs(absolute_distance - self._state_position)/self._EncCnt < 1e-1:
if ((absolute_distance == self._state_position) and (self.vel == 0)) or \
abs(absolute_distance - pos_ini*self._EncCnt) == 1:
break
# 4. unfornately, should the controller becomes slightly faulty,
# namely that the stage is not at position 0 mm, we have to manually
# move the stage home using property set_pos
while not (self._state_position == absolute_distance):
# type I error: if the controller says it's static when it's not,
# an error is thrown in this case.
if self.is_in_motion and (self.vel == 0):
raise Exception('Setting new position error: your controller is faulty.')
# type II error: maybe the controller is still doing fine adjustment
# on the stage position. In this case, we wait until everything is done
else:
pass
'''
def move_by(self, new_value, blocking = False):
"""
Move relative to current position.
Expand All @@ -304,21 +381,116 @@ def move_by(self, new_value, blocking = False):
new_value : float or int
relative distance for the stage to travel
blocking : bool
wait until moving is finished
not wait until moving is finished
Default: False
Examples
--------
s.move_by(2)
s.move_by(-2)
"""
assert type(new_value) in (float, int)
relative_distance = int(new_value * self._EncCnt)
self._port.send_message(MGMSG_MOT_MOVE_RELATIVE_long(chan_ident = self._chan_ident, relative_distance = relative_distance))
time.sleep(0.3)
while self.is_in_motion and not blocking:
pass
time.sleep(0.8)
rel_dist = int(new_value * self._EncCnt)
# check if the input value for travelling distance is a float or an integer
if isinstance(new_value,(int,float)):
try:
# add a parameter value restriction
assert (self.pos + new_value >= self._conf_min_pos) and \
(self.pos + new_value <= self._conf_max_pos)
except AssertionError:
print('Oops! Try a different value for jogging distance and it should be within [{0},{1}] {2}'. \
format(self._conf_min_pos - self.pos, self._conf_max_pos - self.pos, self.units))
new_value = None
else:
raise TypeError('Position value must be an integer or a float')

if not blocking:
# if the desired position is the same as the current position of the stage, no command sent out in this case
if new_value == None:
return
if rel_dist == 0:
return

else:
pos_ini = int(self.pos * self._EncCnt)
self._port.send_message(MGMSG_MOT_MOVE_RELATIVE_long(chan_ident = self._chan_ident, \
relative_distance = rel_dist))
time_ini = time.time()
while not self.is_in_motion:
if abs(rel_dist) == 1:
break
if time.time() - time_ini >= 2:
break
time_ini = time.time()
while True:
if not bool(sum([self.is_in_motion for i in range(10)])):
break
if time.time() - time_ini >= 20:
raise Exception('Unable to move the stage to the new position')
param_ini = 0
while True:
if sum([self._state_position for i in range(10)])/10 == rel_dist + pos_ini:
break
elif time.time() - time_ini >= 30:
raise Exception('Unable to move the stage to the new position')
else:
'''
if param_ini == 0 and rel_dist + pos_ini != 0:
self._port.send_message(MGMSG_MOT_MOVE_RELATIVE_long(chan_ident = self._chan_ident, \
relative_distance = rel_dist))
print('1')'''
if param_ini == 0 and rel_dist + pos_ini == 0:
self.move_home()
print('Unknown error occured')
param_ini += 1
if blocking:
if new_value == None:
pass
else:
self._port.send_message(MGMSG_MOT_MOVE_RELATIVE_long(chan_ident = self._chan_ident, \
relative_distance = rel_dist))


'''
if not blocking:
if new_value != None:
self._port.send_message(MGMSG_MOT_MOVE_RELATIVE_long(chan_ident = self._chan_ident, \
relative_distance = relative_distance))
# 1. setting new position command takes some time to reach the controller
# and it also takes some time for the controller to execute
# the command. we let the subsequent motion status check
# happen until the motor starts moving
while self.vel == 0:
pass
print('1: ',self.vel)
# 2. then we wait until stage arrives at the new position
while self.is_in_motion:
pass
print('2: ',self.is_in_motion)
print('3: ',self.pos)
# 3. when controller says stage isn't in motion, it doesn't necessarily
# mean the stage has arrived at the desired position. The motion may
# still continue for a little while, in a small scale, trying to do
# some fine adjustments on stage position. We here use a while loop
# to wait until everything is done.
while (pos_ini + relative_distance - self._state_position)/self._EncCnt < 1e-1:
if pos_ini + relative_distance == self._state_position:
break
# 4. unfornately, should the controller becomes slightly faulty,
# namely that the stage is not at position 0 mm, we have to manually
# move the stage home using property set_pos
while not (self._state_position == absolute_distance):
# type I error: if the controller says it's static when it's not,
# an error is thrown in this case.
if self.is_in_motion and (self.vel == 0):
raise Exception('Setting jogging distance error: your controller is faulty.')
# type II error: maybe the controller is still doing fine adjustment
# on the stage position. In this case, we wait until everything is done
else:
pass
'''


@property
def backlash_dist(self):
Expand Down Expand Up @@ -562,9 +734,9 @@ def is_in_motion(self):
True for in motion and False for not in motion
"""
status_bits = self._state_status_bits
mask = 0x00000010 or 0x00000020 or 0x00000040 or 0x00000080 or 0x00000200 or 0x00004000
return bool(status_bits & mask)
motion_status = self.status_in_motion_forward or self.status_in_motion_reverse or self.status_in_motion_jogging_forward or \
self.status_in_motion_jogging_reverse or self.status_in_motion_homing
return motion_status

@property
def status_homed(self):
Expand Down Expand Up @@ -597,17 +769,61 @@ def status_in_motion_homing(self):
@property
def home_check(self):
"""
Returns whether motor homing is completed.
Returns whether stage homing is completed.
Returns
-------
out : bool
True when homing is completed.
True when homing is completely finished.
Information
-----------
there are four conditions to be checked:
- if stage is starting to move
- if homing is completed
- if stage is still
- if controller is faulty
i) 'manually' move stage to home
ii) wait until stage arrives at 0 mm
See also
--------
move_home()
"""
pos_ini = self.pos
# homing command takes some time to reach the controller
# and it also takes some time for the controller to execute
# the command. we let the subsequent motion status check
# happen until the motor starts moving
while (self.pos - pos_ini) == 0:
pass
# then we wait until homing is finished
while not self.status_homed:
if not self.status_in_motion_forward and not self.status_in_motion_reverse:
pass
pass
# also, we have to check if the motor is still in motion; if it is,
# we wait until it's absolutely static.
while True:
if not bool(sum([self.is_in_motion for i in range(10)])):
break
# unfornately, should the controller becomes slightly faulty,
# namely that the stage is not at position 0 mm, we have to manually
# move the stage home using property set_pos
time_ini = time.time()
param_ini = 0
while (not self.pos == 0.0) or self.is_in_motion:
# type I error: if the controller says it's homed when it's not,
# we move the stage to position 0 'manually'.
if self.status_homed and (not sum([self.is_in_motion for i in range(20)])) \
and (param_ini == 0):
self.set_pos(0)
param_ini += 1
if time.time() - time_ini >= 20:
raise Exception('Homing error: your controller maybe faulty.')
# type II error: maybe the controller is still doing fine adjustment
# on the stage position. In this case, we wait until everything is
# done.
return True

##### VEL PARAMS ###################################################################################################################
Expand Down Expand Up @@ -1139,20 +1355,21 @@ def move_home(self, blocking = False):
Parameters
----------
blocking: bool
wait until homing is completed.
not wait until homing is completed.
Default: False
See also
--------
home_check
'''
self._port.send_message(MGMSG_MOT_MOVE_HOME(chan_ident = self._chan_ident))
# we make sure that the controller waits until homing is completed by adding an 'if' loop.
# we make sure that the controller waits until homing is completed by adding an
# 'if' loop to call property home_check.
if not blocking:
# 0.3 sec is the response time between when the command is sent out and when
# the controller is about to execute the command.
time.sleep(0.3)
check_homed = self.home_check
if check_homed:
time.sleep(0.5)
return print('Homed')
return None

##### SYSTEM PARAMETERS ###############################################################################################

Expand Down Expand Up @@ -1318,9 +1535,3 @@ def __del__(self):

def __repr__(self):
return '{0!r}'.format(self._port)


#Message which should maybe be implemented?
#Should be in port: MGMSG_HUB_REQ_BAYUSED, MGMSG_HUB_GET_BAYUSED,
#Really useful? MGMSG_MOT_SET_POSCOUNTER, MGMSG_MOT_REQ_POSCOUNTER, MGMSG_MOT_GET_POSCOUNTER, MGMSG_MOT_SET_ENCCOUNTER, MGMSG_MOT_REQ_ENCCOUNTER, MGMSG_MOT_GET_ENCCOUNTER,
#MGMSG_MOT_SET_JOGPARAMS, MGMSG_MOT_REQ_JOGPARAMS, MGMSG_MOT_GET_JOGPARAMS, MGMSG_MOT_SET_GENMOVEPARAMS, MGMSG_MOT_REQ_GENMOVEPARAMS, MGMSG_MOT_GET_GENMOVEPARAMS, MGMSG_MOT_SET_MOVERELPARAMS, MGMSG_MOT_REQ_MOVERELPARAMS, MGMSG_MOT_GET_MOVERELPARAMS, MGMSG_MOT_SET_MOVEABSPARAMS, MGMSG_MOT_REQ_MOVEABSPARAMS, MGMSG_MOT_GET_MOVEABSPARAMS, MGMSG_MOT_SET_HOMEPARAMS, MGMSG_MOT_REQ_HOMEPARAMS, MGMSG_MOT_GET_HOMEPARAMS, MGMSG_MOT_SET_LIMSWITCHPARAMS, MGMSG_MOT_REQ_LIMSWITCHPARAMS, MGMSG_MOT_GET_LIMSWITCHPARAMS, MGMSG_MOT_MOVE_HOME, MGMSG_MOT_MOVE_HOMED, MGMSG_MOT_MOVE_RELATIVE_short,MGMSG_MOT_MOVE_RELATIVE_long, MGMSG_MOT_MOVE_COMPLETED, MGMSG_MOT_MOVE_ABSOLUTE_short,MGMSG_MOT_MOVE_ABSOLUTE_long, MGMSG_MOT_MOVE_JOG, MGMSG_MOT_MOVE_VELOCITY, MGMSG_MOT_MOVE_STOP, MGMSG_MOT_MOVE_STOPPED, MGMSG_MOT_SET_DCPIDPARAMS, MGMSG_MOT_REQ_DCPIDPARAMS, MGMSG_MOT_GET_DCPIDPARAMS, MGMSG_MOT_SET_AVMODES, MGMSG_MOT_REQ_AVMODES, MGMSG_MOT_GET_AVMODES, MGMSG_MOT_SET_POTPARAMS, MGMSG_MOT_REQ_POTPARAMS, MGMSG_MOT_GET_POTPARAMS, MGMSG_MOT_SET_BUTTONPARAMS, MGMSG_MOT_REQ_BUTTONPARAMS, MGMSG_MOT_GET_BUTTONPARAMS, MGMSG_MOT_SET_EEPROMPARAMS, MGMSG_MOT_REQ_DCSTATUSUPDATE, MGMSG_MOT_GET_DCSTATUSUPDATE, MGMSG_MOT_ACK_DCSTATUSUPDATE, MGMSG_MOT_REQ_STATUSBITS, MGMSG_MOT_GET_STATUSBITS, MGMSG_MOT_SUSPEND_ENDOFMOVEMSGS, MGMSG_MOT_RESUME_ENDOFMOVEMSGS

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