def setup_stages():
global x_linear, y_linear, z_rotary
serial_conn = BinarySerial(STAGES_PORT, timeout=None)
x_linear = BinaryDevice(serial_conn, 2)
y_linear = BinaryDevice(serial_conn, 3)
z_rotary = BinaryDevice(serial_conn, 1)
x_linear.set_home_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
y_linear.set_home_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
# need to check that mm2rotdata does the right conversion
#rotary.set_target_speed(mm2rotdata(DEFAULT_ROT_SPEED))
x_linear.set_target_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
y_linear.set_target_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
x_linear.set_acceleration(LIN_STAGE_ACCELERATION)
y_linear.set_acceleration(LIN_STAGE_ACCELERATION)
z_rotary.set_acceleration(ROT_STAGE_ACCELERATION)
z_rotary.set_min_position(deg2rotdata(ROTARY_MIN_ANGLE))
z_rotary.set_max_position(deg2rotdata(ROTARY_MAX_ANGLE))
home_all()
def setup_stages():
global serial_conn, x_linear, y_linear, z_rotary
serial_conn = BinarySerial(STAGES_PORT, timeout=None)
if CONNECT_ROTARY:
z_rotary = BinaryDevice(serial_conn, 1)
z_rotary.set_home_speed(degspeed2rotdata(DEFAULT_ROT_SPEED))
z_rotary.set_target_speed(degspeed2rotdata(DEFAULT_ROT_SPEED))
z_rotary.set_acceleration(ROT_STAGE_ACCELERATION)
z_rotary.set_min_position(deg2rotdata(ROTARY_MIN_ANGLE))
z_rotary.set_max_position(deg2rotdata(ROTARY_MAX_ANGLE))
x_linear = BinaryDevice(serial_conn, 2)
y_linear = BinaryDevice(serial_conn, 3)
x_linear.set_home_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
y_linear.set_home_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
x_linear.set_target_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
y_linear.set_target_speed(linspeed2lindata(DEFAULT_HOME_SPEED))
x_linear.set_acceleration(LIN_STAGE_ACCELERATION)
y_linear.set_acceleration(LIN_STAGE_ACCELERATION)
x_linear.disable_manual_move_tracking()
y_linear.disable_manual_move_tracking()
home_all()