(at your option) any later version.
AutoPatcher_IG is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with AutoPatcher_IG. If not, see <http://www.gnu.org/licenses/>.
@Author: Brendan Callahan, Alexander A. Chubykin
"""
import MSSInterface
import time
MSSInterface = MSSInterface.MSSInterface()
time.sleep(5)
# while True:
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# MSSInterface.moveToRel(2,0, 100, 100, 100)
# MSSInterface.waitForReady(2,0)
# MSSInterface.askCoords(2,0)
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# print "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",MSSInterface.getCoords(2,0)
# MSSInterface.moveToRel(2,0, -100, -100, -100)
def get_motors_coord_um(self, manip=None): # returns the motor coordinates in um
print "GETTING COORDS FOR UNIT ",self.unitID
coord=[]
#no manipulator defined, all motors
if manip == None:
startmot = 1
endmot = 7
#first manipulator only
if manip == 0:
startmot = 1
endmot = 4
#second manipulator only
if manip == 1:
startmot = 4
endmot = 7
for i in range(startmot,endmot):
a='#'+str(i)+'?Z'
b=self.talk(a)
if i == 1:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X0+"
self.x0EndPosPlus = True
else:
self.x0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X0-"
self.x0EndPosMinus = True
else:
self.x0EndPosMinus = False
if i == 2:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y0+"
self.y0EndPosPlus = True
else:
self.y0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y0-"
self.y0EndPosMinus = True
else:
self.y0EndPosMinus = False
if i == 3:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z0+"
self.z0EndPosPlus = True
else:
self.z0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z0-"
self.z0EndPosMinus = True
else:
self.z0EndPosMinus = False
if i == 4:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X1+"
self.x1EndPosPlus = True
else:
self.x1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X1-"
self.x1EndPosMinus = True
else:
self.x1EndPosMinus = False
if i == 5:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y1+"
self.y1EndPosPlus = True
else:
self.y1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y1-"
self.y1EndPosMinus = True
else:
self.y1EndPosMinus = False
if i == 6:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z1+"
self.z1EndPosPlus = True
else:
self.z1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z1-"
self.z1EndPosMinus = True
else:
self.z1EndPosMinus = False
if self.unitID == 0:
print b
if b == None:
self.parent.threadqueue[self.unitID].insert(0,mssi.askCoordsThread(self.parent,self.unitID))
return
if 'P' in b:
#print "COORDS UNIT",self.unitID,"MANIP",i
#print "B equals",b
coordstring = b[b.index('P')+1:-4]
#print "String equals",coordstring
fullsteps = float(coordstring[:-2])
microsteps = int(coordstring[-2:])
#print "fullsteps",fullsteps
#print "microsteps",microsteps
sign = "+"
if fullsteps < 0:
fullsteps +=1
sign = "-"
#print "fullsteps after increment",fullsteps
actualcoords = fullsteps*self.full_step
#print "actualcoords pre microsteps",actualcoords
if sign == "+":
#print "MICROSTEP DISTANCE+:",((float(microsteps)*2.0)/100.0)*self.full_step
actualcoords += ((float(microsteps)*2.0)/100.0)*self.full_step
else:
#print "MICROSTEP DISTANCE-:",(((50-float(microsteps))*2.0)/100.0)*self.full_step
actualcoords -= (((50-float(microsteps))*2.0)/100.0)*self.full_step
#print "actualcoords post microsteps",actualcoords
coord.append(round(float(actualcoords),5)) # recalculate in um, full_step is 1 step in mm
else: # if didn't get through, repeat
b=self.talk(a)
coord.append(round(float(b[b.index('P')+1:-3])*self.full_step,4))
if manip == None:
self.parent.motorcoordinates[self.unitID][0]=copy.deepcopy(coord[:3])
if self.parent.portdata[self.unitID][2] == 2:
self.parent.motorcoordinates[self.unitID][1]=copy.deepcopy(coord[3:])
if manip == 0:
self.parent.motorcoordinates[self.unitID][0]=copy.deepcopy(coord[:3])
if manip == 1:
self.parent.motorcoordinates[self.unitID][1]=copy.deepcopy(coord[:3])
def get_motors_coord_um(self,
manip=None): # returns the motor coordinates in um
print "GETTING COORDS FOR UNIT ", self.unitID
coord = []
#no manipulator defined, all motors
if manip == None:
startmot = 1
endmot = 7
#first manipulator only
if manip == 0:
startmot = 1
endmot = 4
#second manipulator only
if manip == 1:
startmot = 4
endmot = 7
for i in range(startmot, endmot):
a = '#' + str(i) + '?Z'
b = self.talk(a)
if i == 1:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X0+"
self.x0EndPosPlus = True
else:
self.x0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X0-"
self.x0EndPosMinus = True
else:
self.x0EndPosMinus = False
if i == 2:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y0+"
self.y0EndPosPlus = True
else:
self.y0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y0-"
self.y0EndPosMinus = True
else:
self.y0EndPosMinus = False
if i == 3:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z0+"
self.z0EndPosPlus = True
else:
self.z0EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z0-"
self.z0EndPosMinus = True
else:
self.z0EndPosMinus = False
if i == 4:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X1+"
self.x1EndPosPlus = True
else:
self.x1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: X1-"
self.x1EndPosMinus = True
else:
self.x1EndPosMinus = False
if i == 5:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y1+"
self.y1EndPosPlus = True
else:
self.y1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Y1-"
self.y1EndPosMinus = True
else:
self.y1EndPosMinus = False
if i == 6:
if "E+" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z1+"
self.z1EndPosPlus = True
else:
self.z1EndPosPlus = False
if "E-" in b:
#print "END POS UNIT:",self.unitID,"AXIS: Z1-"
self.z1EndPosMinus = True
else:
self.z1EndPosMinus = False
if self.unitID == 0:
print b
if b == None:
self.parent.threadqueue[self.unitID].insert(
0, mssi.askCoordsThread(self.parent, self.unitID))
return
if 'P' in b:
#print "COORDS UNIT",self.unitID,"MANIP",i
#print "B equals",b
coordstring = b[b.index('P') + 1:-4]
#print "String equals",coordstring
fullsteps = float(coordstring[:-2])
microsteps = int(coordstring[-2:])
#print "fullsteps",fullsteps
#print "microsteps",microsteps
sign = "+"
if fullsteps < 0:
fullsteps += 1
sign = "-"
#print "fullsteps after increment",fullsteps
actualcoords = fullsteps * self.full_step
#print "actualcoords pre microsteps",actualcoords
if sign == "+":
#print "MICROSTEP DISTANCE+:",((float(microsteps)*2.0)/100.0)*self.full_step
actualcoords += (
(float(microsteps) * 2.0) / 100.0) * self.full_step
else:
#print "MICROSTEP DISTANCE-:",(((50-float(microsteps))*2.0)/100.0)*self.full_step
actualcoords -= (((50 - float(microsteps)) * 2.0) /
100.0) * self.full_step
#print "actualcoords post microsteps",actualcoords
coord.append(
round(float(actualcoords),
5)) # recalculate in um, full_step is 1 step in mm
else: # if didn't get through, repeat
b = self.talk(a)
coord.append(
round(float(b[b.index('P') + 1:-3]) * self.full_step, 4))
if manip == None:
self.parent.motorcoordinates[self.unitID][0] = copy.deepcopy(
coord[:3])
if self.parent.portdata[self.unitID][2] == 2:
self.parent.motorcoordinates[self.unitID][1] = copy.deepcopy(
coord[3:])
if manip == 0:
self.parent.motorcoordinates[self.unitID][0] = copy.deepcopy(
coord[:3])
if manip == 1:
self.parent.motorcoordinates[self.unitID][1] = copy.deepcopy(
coord[:3])