def __init__(self,
scope,
piezo,
p=1.,
i=0.1,
d=0.05,
sample_time=0.01,
mode='frame'):
"""
Parameters
----------
scope: PYME.Acquire.Hardware.microscope.microscope
piezo: PYME.Acquire.Hardware.Piezos.offsetPiezoREST.OffsetPiezoClient
p: float
i: float
d: float
sample_time: float
See simple_pid.PID, but this servo does not have a tolerance on the lock position, but rather a dead-time
of-sorts by only updating at ~regular time intervals. The correction is only changed once per sample_time.
mode: str
flag, where 'frame' queries on each frame and 'time' queries at fixed times by polling at sample_time
"""
self.scope = scope
self.piezo = piezo
# self._last_offset = self.piezo.GetOffset()
self._fitter = GaussFitter1D()
self.fit_roi_size = 75
self.peak_position = 512 # default to half of the camera size
self.subtraction_profile = None
PID.__init__(self,
p,
i,
d,
setpoint=self.peak_position,
auto_mode=False,
sample_time=sample_time)
self._mode = mode
self._polling = False
def __init__(self, name, type, sensor, actor):
self.type = "tempController"
self.name = name
self.auto = True
self.state = ""
self.sensor = sensor
self.sensorValue = -273
self.actor = "hlt_heater"
self.actorValue = 0
self.contollerSate = "on"
self.previousControllerSate = self.contollerSate
self.consoleMsg = msg(self.name, "controller", "controllerState")
self.actorMsg = msg("controller", self.actor, "command")
PID.__init__(self,
Kp=112.344665712,
Ki=0.840663751375,
Kd=12.5112685197)
self.setpoint = 66
self.output_limits = (0, 100)
listner.__init__(self)
def __init__(self,
scope,
piezo,
p=1.,
i=0.1,
d=0.05,
sample_time=0.01,
mode='frame',
fit_roi_size=75,
min_amp=0,
max_sigma=np.finfo(float).max,
min_lateral_sigma=0,
trigger_failsafe=True):
"""
Parameters
----------
scope: PYME.Acquire.Hardware.microscope.microscope
piezo: PYME.Acquire.Hardware.Piezos.offsetPiezoREST.OffsetPiezoClient
p: float
i: float
d: float
sample_time: float
See simple_pid.PID, but this servo does not have a tolerance on the lock position, but rather a dead-time
of-sorts by only updating at ~regular time intervals. The correction is only changed once per sample_time.
mode: str
flag, where 'frame' queries on each frame and 'time' queries at fixed times by polling at sample_time
fit_roi_size : int
size of profile to crop about the peak for actual fitting, allowing
us to fit partial profiles and save some time
min_amp : float
minimum fit result amplitude which we are willing to accept as a
valid peak measurement we can use to correct the focus.
max_sigma : float
maximum fit result sigma which we are willing to accept as a valid
peak measurement we can use to correct the focus.
min_lateral_sigma : float
minimum standard dev along the dimension we sum (squash) to get the
profile. If the lateral sigma is below this we reject the frame for
fitting because we expect a long spread profile.
trigger_failsafe : bool
if True, try to kill lasers if the profile intensity saturates a
majority of the pixels on the focus lock camera
"""
self.scope = scope
self.piezo = piezo
self._piezo_control_lock = threading.Lock()
self._piezo_home = 0.5 * (self.piezo.GetMax() - self.piezo.GetMin())
self._lock_ok = False
self._ok_tolerance = 5
self.fit_roi_size = fit_roi_size
self._fitter = GaussFitter1D(min_amp=min_amp, max_sigma=max_sigma)
self._min_lateral_sigma = min_lateral_sigma
self.peak_position = self.scope.frameWrangler.currentFrame.shape[
1] * 0.5 # default to half of the camera size
self.subtraction_profile = None
self.use_failsafe = trigger_failsafe and hasattr(scope, 'failsafe')
PID.__init__(self,
p,
i,
d,
setpoint=self.peak_position,
auto_mode=False,
sample_time=sample_time)
self._mode = mode
self._polling = False
