def MoveTo(self, iChannel, fPos, bTimeOut=True):
stepPos = round(fPos/self.stepsize)
if (stepPos >= self.hardMin):
if (fPos < self.max_travel):
nik.ZDrive.Position = stepPos
else:
nik.ZDrive.Position = round(self.max_travel/self.stepsize)
else:
nik.ZDrive.Position = self.hardMin
eventLog.logEvent('Focus Change', 'New z-pos = %f' % stepPos)
def Notify(self):
if self.Tracking and self._IsGuided():
currPos = self.posFcn()
if self.EstimateSlope:
SlopeEst_new = (self.LastPos -
currPos) / self.LastStep #estimate slope
self.SlopeEst = .5 * self.SlopeEst + 0.5 * SlopeEst_new #average slope changes
#print self.SlopeEst
posErr = currPos - self.TargetPos
#print posErr
if self.recDrift:
self.Errors.append(posErr)
self.PiezoPoss.append(self.piezo.GetPos(0))
self.slopeEsts.append(self.SlopeEst)
eventLog.logEvent('Focus Position',
'%f, %f, %f' % (currPos, posErr, self.SlopeEst))
if abs(posErr) > abs(
self.tolerance * self.SlopeEst): #needs correction
corr = posErr / self.SlopeEst
corr = round(0.8 * corr / .05) * .05
#don't make more than 1um correction in any one step
corr = min(max(corr, -1), 1)
print(corr)
self.LastPos = currPos
self.piezo.MoveTo(0, self.piezo.GetPos(0) + corr)
self.LastStep = corr
self.cumShift += corr #increment cumulative shift
#we've moved a lot - lock obviously broken
if abs(self.cumShift) > 5:
self.Tracking = False #turn tracking off to stop runnaway
else:
self.cumShift = 0 #reset cumulative shift
def Notify(self):
if self.Tracking and self._IsGuided():
currPos = self.posFcn()
if self.EstimateSlope:
SlopeEst_new = (self.LastPos - currPos)/self.LastStep #estimate slope
self.SlopeEst = .5*self.SlopeEst + 0.5*SlopeEst_new #average slope changes
#print self.SlopeEst
posErr = currPos - self.TargetPos
#print posErr
if self.recDrift:
self.Errors.append(posErr)
self.PiezoPoss.append(self.piezo.GetPos(0))
self.slopeEsts.append(self.SlopeEst)
eventLog.logEvent('Focus Position', '%f, %f, %f' % (currPos, posErr,self.SlopeEst ))
if abs(posErr) > abs(self.tolerance*self.SlopeEst): #needs correction
corr = posErr/self.SlopeEst
corr = round(0.8*corr/.05)*.05
#don't make more than 1um correction in any one step
corr = min(max(corr, -1), 1)
print(corr)
self.LastPos = currPos
self.piezo.MoveTo(0,self.piezo.GetPos(0) + corr)
self.LastStep = corr
self.cumShift += corr #increment cumulative shift
#we've moved a lot - lock obviously broken
if abs(self.cumShift) > 5:
self.Tracking = False #turn tracking off to stop runnaway
else:
self.cumShift = 0 #reset cumulative shift