def goHome(self):
con = pyAPT.MTS50(serial_number=self.X_AXIS_SN)
con.home(velocity=40)
con = pyAPT.MTS50(serial_number=self.Y_AXIS_SN)
con.home(velocity=40)
con = pyAPT.MTS50(serial_number=self.Z_AXIS_SN)
con.home(velocity=40)
self.moveAbsolute(0, 0, 0)
def _init_motors():
# initilizes x, y, z motors
x = pyAPT.MTS50(serial_number=27001234)
y = pyAPT.MTS50(serial_number=27001328)
z = pyAPT.MTS50(serial_number=27001291)
#motorlist = [x, y, z]
'''
for each in motorlist:
each.max_velocity = velocity = 0.23
each.max_acceleration = 0.45
'''
print x.position(), y.position(), z.position()
return x, y, z #, motorlist
def main(args):
if len(args) < 3:
print(__doc__)
return 1
else:
serial = args[1]
position = float(args[2])
try:
with pyAPT.MTS50(serial_number=serial) as con:
print('Found APT controller S/N', serial)
print('\tMoving stage to %.2fmm...' % (position))
st = time.time()
con.goto(position, wait=True)
stat = con.status()
while stat.moving:
out = ' pos %3.2fmm vel %3.2fmm/s' % (stat.position,
stat.velocity)
sys.stdout.write(out)
time.sleep(0.01)
stat = con.status()
l = len(out)
sys.stdout.write('\b' * l)
sys.stdout.write(' ' * l)
sys.stdout.write('\b' * l)
print('\tMove completed in %.2fs' % (time.time() - st))
print('\tNew position: %.2fmm' % (con.position()))
print('\tStatus:', con.status())
return 0
except pylibftdi.FtdiError as ex:
print('\tCould not find APT controller S/N of', serial)
return 1
def status(serial):
with pyAPT.MTS50(serial_number=serial) as con:
status = con.status()
print('\tController status:')
print('\t\tPosition: %.3fmm (%d cnt)'%(status.position, status.position_apt))
print('\t\tVelocity: %.3fmm'%(status.velocity))
print('\t\tStatus:',status.flag_strings())
def main(args):
print 'Looking for APT controllers'
drv = pylibftdi.Driver()
st = time.time()
controllers = drv.list_devices()
print '\tlist_devices:',time.time()-st
if controllers:
for con in controllers:
print 'Found %s %s S/N: %s'%con
st = time.time()
with pyAPT.MTS50(serial_number=con[2]) as con:
print '\topen:',time.time()-st
st = time.time()
status = con.status()
print '\tstatus:',time.time()-st
print '\tController status:'
print '\t\tPosition: %.2fmm'%(status.position)
print '\t\tVelocity: %.2fmm'%(status.velocity)
print '\t\tStatus:',status.flag_strings()
return 0
else:
print '\tNo APT controllers found. Maybe you need to specify a PID'
return 1
def Connect(self):
if not self.connected:
self.connected = True
self.btnConnect.setStyleSheet('background-color: red')
self.btnConnect.setText('Disconnect')
self.SN = int(self.txtSN.text())
self.con = pyAPT.MTS50(serial_number=self.SN)
self.btnUp.setEnabled(True)
self.btnDown.setEnabled(True)
self.btnHome.setEnabled(True)
self.txtPos.setEnabled(True)
self.btnMove.setEnabled(True)
self.timer.start(100)
else:
self.timer.stop()
self.connected = False
self.con.close()
self.btnConnect.setStyleSheet('')
self.btnConnect.setText('Connect')
self.btnUp.setEnabled(False)
self.btnDown.setEnabled(False)
self.btnHome.setEnabled(False)
self.txtPos.setEnabled(False)
self.btnMove.setEnabled(False)
def get_vel_params(serial):
with pyAPT.MTS50(serial_number=serial) as con:
min_vel, acc, max_vel = con.velocity_parameters()
raw_min_vel, raw_acc, raw_max_vel = con.velocity_parameters(raw=True)
print('\tController velocity parameters:')
print('\t\tMin. Velocity: %.2fmm/s (%d)' % (min_vel, raw_min_vel))
print('\t\tAcceleration: %.2fmm/s/s (%d)' % (acc, raw_acc))
print('\t\tMax. Velocity: %.2fmm/s (%d)' % (max_vel, raw_max_vel))
def moveAbsoluteY(self, y): con = pyAPT.MTS50(serial_number = self.Y_AXIS_SN) con.goto(y, wait = False) stat = con.status() while stat.moving: time.sleep(0.01) stat = con.status() con.close()
def home(serial):
with pyAPT.MTS50(serial_number=serial) as con:
print('\tIdentifying controller')
con.identify()
print('\tHoming parameters:', con.request_home_params())
print('\tHoming stage...', end=' ')
con.home(velocity=10)
print('homed')
def moveAbsoluteX(self, x): x = float(self.MAX_DIST) - x con = pyAPT.MTS50(serial_number = self.X_AXIS_SN) con.goto(x, wait = False) stat = con.status() while stat.moving: time.sleep(0.01) stat = con.status() con.close()
def set_vel_params(serial, acc, max_vel):
with pyAPT.MTS50(serial_number=serial) as con:
print('\tSetting new velocity parameters',acc,max_vel)
con.set_velocity_parameters(acc, max_vel)
min_vel, acc, max_vel = con.velocity_parameters()
print('\tNew velocity parameters:')
print('\t\tMin. Velocity: %.2fmm'%(min_vel))
print('\t\tAcceleration: %.2fmm'%(acc))
print('\t\tMax. Velocity: %.2fmm'%(max_vel))
def moveAbsoluteZ(self, z): z = float(self.MAX_DIST) - z con = pyAPT.MTS50(serial_number = self.Z_AXIS_SN) con.goto(z, wait = False) stat = con.status() while stat.moving: time.sleep(0.01) stat = con.status() con.close()
def moveAbsoluteY(self, y):
con = pyAPT.MTS50(serial_number=self.Y_AXIS_SN)
con.goto(y, wait=False)
stat = con.status()
while stat.moving:
out = ' pos %3.2fmm vel %3.2fmm/s' % (stat.position, stat.velocity)
# sys.stdout.write(out)
time.sleep(0.01)
stat = con.status()
l = len(out)
def __init__(self):
drv = pylibftdi.Driver()
controllers = drv.list_devices()
if controllers:
controllers = drv.list_devices()
self.info = controllers[0]
self.serial = self.info[2]
self.controller = pyAPT.MTS50(serial_number=self.serial)
else:
print('No controllers found')
def moveAbsoluteZ(self, z):
z = float(self.MAX_DIST) - z
con = pyAPT.MTS50(serial_number=self.Z_AXIS_SN)
con.goto(z, wait=False)
stat = con.status()
while stat.moving:
out = ' pos %3.2fmm vel %3.2fmm/s' % (stat.position, stat.velocity)
# sys.stdout.write(out)
time.sleep(0.01)
stat = con.status()
l = len(out)
def getPos(self, axis = None): if (axis == 'X' or axis == 'x' or axis == None): with pyAPT.MTS50(serial_number = self.X_AXIS_SN) as con: status = con.status() posX = float(self.MAX_DIST_ENCODER - status.position_apt) / self.ENCODER_SCALE if (axis != None): return posX if (axis == 'Y' or axis == 'y' or axis == None): with pyAPT.MTS50(serial_number = self.Y_AXIS_SN) as con: status = con.status() posY = float(status.position_apt) / self.ENCODER_SCALE if (axis != None): return posY if (axis == 'Z' or axis == 'z' or axis == None): with pyAPT.MTS50(serial_number = self.Z_AXIS_SN) as con: status = con.status() posZ = float(self.MAX_DIST_ENCODER - status.position_apt) / self.ENCODER_SCALE if (axis != None): return posZ return [posX, posY, posZ]
def goHome(self): # Move to home position of the stage self.moveAbsolute(self.MAX_DIST, 0, self.MAX_DIST) # Verify X axis home position con = pyAPT.MTS50(serial_number = self.X_AXIS_SN) con.home() con.close() # Verify Y axis home position con = pyAPT.MTS50(serial_number = self.Y_AXIS_SN) con.home() con.close() # Verify Z axis home position con = pyAPT.MTS50(serial_number = self.Z_AXIS_SN) con.home() con.close() # Move to our reference frame home position self.moveAbsolute(0, 0, 0)
def main(args):
if len(args) < 3:
print __doc__
return 1
else:
serial = args[1]
dist = float(args[2])
try:
with pyAPT.MTS50(serial_number=serial) as con:
print 'Found APT controller S/N', serial
print '\tMoving stage by %.2fmm...' % (dist),
con.move(dist)
print 'moved'
print '\tNew position: %.2fmm' % (con.position())
return 0
except pylibftdi.FtdiError as ex:
print '\tCould not find APT controller S/N of', serial
return 1
def main(args):
if len(args)<3:
print(__doc__)
return 1
else:
serial = args[1]
dist = float(args[2])
try:
with pyAPT.MTS50(serial_number=serial) as con:
print(con.velocity_parameters());
con.set_velocity_parameters()
print(con.velocity_parameters());
print('Found APT controller S/N',serial)
print('\tMoving stage by %.2fmm...'%(dist), end=' ')
con.move(dist)
print('moved')
print('\tNew position: %.2fmm'%(con.position()))
return 0
except pylibftdi.FtdiError as ex:
print('\tCould not find APT controller S/N of',serial)
return 1
def main(args):
print 'Looking for APT controllers'
drv = pylibftdi.Driver()
controllers = drv.list_devices()
if len(args)>1:
serial = args[1]
else:
serial = None
if serial:
controllers = filter(lambda x:x[2] == serial, controllers)
if controllers:
for con in controllers:
print 'Found %s %s S/N: %s'%con
with pyAPT.MTS50(serial_number=con[2]) as con:
print '\tPosition (mm) = %.2f [enc:%d]'%(con.position(), con.position(raw=True))
return 0
else:
print '\tNo APT controllers found. Maybe you need to specify a PID'
return 1
def activate(self, quiet=False):
self.config['channel_names'] = [
'position_rel', 'position_abs', 'velocity_set'
]
self.config['scale'] = [1.] * len(self.config['channel_names'])
self.config['offset'] = [0.] * len(self.config['channel_names'])
self.params['n_channels'] = 3
self.config['Home'] = False
self.config['MoveRel'] = 0.
self.params['raw_units'] = ['mm', 'mm', 'mm/s']
self.config['eng_units'] = ['mm', 'mm', 'mm/s']
# Open socket to the pyAPT device.
self.dev = pyAPT.MTS50(serial_number=self.serial_number)
self.driverConnected = True
# Make first query to get units, description, etc.
self.query(reset=True)
if not quiet:
print('\t' + str(self.params['name']))
self.pprint()
return
def homeStage(stage_serial, settle_time):
with pyAPT.MTS50(serial_number=stage_serial) as con:
con.home()
time.sleep(settle_time)
return con.position()
def getStagePos(stage_serial):
with pyAPT.MTS50(serial_number=stage_serial) as con:
return con.position()
def moveStageAbs(stage_serial, pos, settle_time):
with pyAPT.MTS50(serial_number=stage_serial) as con:
con.goto(pos)
time.sleep(settle_time)
return con.position()
def getInfoAxis(self, axis): con = pyAPT.MTS50(serial_number = axis) ret = con.info() con.close() return ret
def getPos(self, axis=None):
if (axis == 'X' or axis == 'x' or axis == None):
with
pyAPT.MTS50(serial_number=self.X_AXIS_SN)
as
'''
def getPos(self, axis=None):
if (axis == 'X' or axis == 'x' or axis == None):
with
pyAPT.MTS50(serial_number=self.X_AXIS_SN)
as
con:
status = con.status()
posX = float(self.MAX_DIST_ENCODER - status.position_apt) / self.ENCODER_SCALE
if (axis != None):
return posX
if (axis == 'Y' or axis == 'y' or axis == None):
with
pyAPT.MTS50(serial_number=self.Y_AXIS_SN)
as
con:
status = con.status()
posY = float(status.position_apt) / self.ENCODER_SCALE
if (axis != None):
return posY
if (axis == 'Z' or axis == 'z' or axis == None):
with
pyAPT.MTS50(serial_number=self.Z_AXIS_SN)
as
con:
status = con.status()
posZ = float(self.MAX_DIST_ENCODER - status.position_apt) / self.ENCODER_SCALE
def getInfoAxis(self, axis):
con = pyAPT.MTS50(serial_number=axis)
return con.info()
def moveStageRel(stage_serial, dist, settle_time):
with pyAPT.MTS50(serial_number=stage_serial) as con:
con.move(dist)
time.sleep(settle_time)
return con.position()
def getStatusAxis(self, axis): con = pyAPT.MTS50(serial_number = axis) ret = con.status() con.close() return ret
