class MotorController(object):
'''
classdocs
'''
def __init__(self):
'''
Constructor
correct serial number:
old 83863559
83815746
'''
self.connectFailed = False
try:
self.Motor1 = APTMotor(83863559, HWTYPE=31)
print self.Motor1.getHardwareInformation()
print self.Motor1.getStageAxisInformation()
print self.Motor1.getVelocityParameters()
# self.degreeConv = 15.0156077
self.degreeConv = 1
self.Motor1.setVelocityParameters(0.0, 5.0, 5.99976)
print self.Motor1.getVelocityParameters()
except Exception as e:
import ThreadedGUI
self.connectFailed = True
title = "Motor Connection Error"
text = "Motor connection failed, make sure it is connected"
p = mp.Process(target = ThreadedGUI.displayError, args =(title, text) )
p.start()
p.join()
def moveMotor(self, ang):
self.Motor1.mcRel(ang/self.degreeConv,5.99976)
# ans = self.Motor1.getPos()*self.degreeConv
# return ans
return 1
def Home(self):
self.Motor1.go_home()
return True
def BlinkSomeLights(self):
self.Motor1.identify()
return True
def getPosition(self):
return self.Motor1.getPos()*self.degreeConv
def moveTo(self, ang):
return self.Motor1.mAbs(ang/self.degreeConv)*self.degreeConv
class BBD103():
"""
Thorlabs USB interface to BBD103 controller for a MLS203 stage
"""
def __init__(self, sn_motor1=94832870, sn_motor2=94832869, **kwds):
"""
Connect to the thorlabs stage at the specified port.
"""
self.live = True
self.unit_to_um = 1000.0 # units are mm
self.um_to_unit = 1.0 / self.unit_to_um
self.x = 0.0
self.y = 0.0
# sn_motor1 = 94832870
# sn_motor2 = 94832869
self.Motor1 = APTMotor(sn_motor1, HWTYPE=44) # initialize motor 1 "x"
self.Motor2 = APTMotor(sn_motor2, HWTYPE=44) # initizalize motor 2 "y"
## getStatus
#
# @return True/False if we are actually connected to the stage.
#
def getStatus(self):
return self.live
def goAbsolute(self, x, y):
x = x * self.um_to_unit
y = y * self.um_to_unit
self.Motor1.mAbs(x) #
self.Motor2.mAbs(y) #
def goRelative(self, x, y):
x = x * self.um_to_unit
y = y * self.um_to_unit
self.Motor1.mRel(x) #
self.Motor2.mRel(y) #
def jog(self, x_speed,
y_speed): # shouldn't this also specify a relative position
vx = x_speed * self.um_to_unit
vy = y_speed * self.um_to_unit
self.Motor1.setVel(x_speed)
self.Motor2.setVel(y_speed)
def joystickOnOff(self, on):
if on:
self.writeline("!joy 2")
else:
self.writeline("!joy 0")
## lockout
#
# Calls joystickOnOff.
#
# @param flag True/False.
#
def lockout(self, flag):
self.joystickOnOff(not flag)
## position
#
# @return [stage x (um), stage y (um), stage z (um)]
#
def position(self):
if self.live:
x0 = self.Motor1.getPos() # query single axis
y0 = self.Motor2.getPos() # query single axis
return {"x": x0, "y": y0}
def serialNumber(self):
"""
Return the stages serial number.
"""
return self.Motor1.getHardwareInformation()
def setVelocity(self, x_vel, y_vel):
"""
x_vel - The maximum stage velocity allowed in x.
y_vel - The maximum stage velocity allowed in y.
I'm not sure this should be allowed to change the max velocity here.
"""
pass
## shutDown
#
# Disconnect from the stage.
#
def shutDown(self):
# Disconnect from the stage (not sure this is correct)
if self.live:
self.Motor1.cleanUpAPT()
self.Motor2.cleanUpAPT()
def zero(self):
pass
