def on_goPlatform(self):
vel = self.ui.velSpinBox.value()
acc = self.ui.accSpinBox.value()
acsc.setVelocity(self.hcomm, self.axis, vel)
acsc.setAcceleration(self.hcomm, self.axis, acc)
acsc.setDeceleration(self.hcomm, self.axis, acc)
acsc.setJerk(self.hcomm, self.axis, acc*10)
acsc.toPoint(self.hcomm, None, self.axis, self.platform)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
def on_go(self):
target = self.ui.posSpinBox.value()
vel = self.ui.velSpinBox.value()
acc = self.ui.accSpinBox.value()
acsc.setVelocity(self.hcomm, self.axis, vel)
acsc.setAcceleration(self.hcomm, self.axis, acc)
acsc.setDeceleration(self.hcomm, self.axis, acc)
acsc.setJerk(self.hcomm, self.axis, acc*10)
if self.ui.rbRelative.isChecked() == True:
flags = acsc.AMF_RELATIVE
else:
flags = None
acsc.toPoint(self.hcomm, flags, self.axis, target)
mmc.snapImage()
image_npy = mmc.getImage()
proj_32bit_filler = proj_32bit_filler + image_npy
return proj_32bit_filler
##################
####stage calls###
##################
if load_stages:
#initiate connection
hcomm = acsc.openCommEthernetTCP(address="10.0.0.100", port=701)
if scan_gain:
acsc.enable(hcomm, 0) #z
# acsc.toPoint(hcomm, None,0,110) #YIFU CHECK THIS
acsc.setVelocity(hcomm, 0, 5) #velocity in mm/sec
r_pos_0 = acsc.getRPosition(hcomm, 0)
f_pos_0 = acsc.getFPosition(hcomm, 0)
acsc.enable(hcomm, 1) #theta
acsc.setVelocity(hcomm, 1, 5) #velocity in degrees/sec
r_pos_1 = acsc.getRPosition(hcomm, 1)
f_pos_1 = acsc.getFPosition(hcomm, 1)
# acsc.toPoint(hcomm, None,1,0)
print("z-stage F pos: %f \n z-stage R pos: %f" % (f_pos_0, r_pos_0))
print("theta-stage F pos: %f \n theta-stage R pos: %f" %
(f_pos_1, r_pos_1))
where_i_was = r_pos_0
##################
###camera calls###
def vel(self, velocity):
"""Sets axis velocity."""
acsc.setVelocity(self.controller.hc, self.axisno, velocity)
def initialization(self):
print "Waiting for Motorized Stage (ACS) Initialization"
self.hc = acsc.openCommEthernetTCP(address="10.0.0.100",
port=701) ## craete comminucation
acsc.runBuffer(self.hc, 0)
acsc.runBuffer(self.hc, 1)
acsc.runBuffer(self.hc, 2)
acsc.runBuffer(self.hc, 4)
acsc.runBuffer(self.hc, 5)
acsc.runBuffer(self.hc, 6)
time.sleep(30)
## Homing process
## Axis 6
acsc.waitMotionEnd(self.hc, axis=6) ## stop at left limit
if acsc.setFPosition(self.hc, axis=6, fposition=0) != 0:
print 'Axis 6 (Receiver Z): Homing completed'
else:
print 'Axis 6 (Receiver Z): Homing failed'
## Axis 0
acsc.waitMotionEnd(self.hc, axis=0)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=0, target=47.5)
acsc.waitMotionEnd(self.hc, axis=0)
if acsc.setFPosition(self.hc, axis=0, fposition=0) == 1:
print 'Axis 0 (Sample X): Homing completed'
else:
print 'Axis 0 (Sample X): Homing failed'
## Axis 1
acsc.waitMotionEnd(self.hc, axis=1)
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=1, target=19.51)
acsc.waitMotionEnd(self.hc, axis=1)
if acsc.setFPosition(self.hc, axis=1, fposition=0) == 1:
print 'Axis 1 (Sample Y): Homing completed'
else:
print 'Axis 1 (Sample Y): Homing failed'
## Axis 2
acsc.waitMotionEnd(self.hc, axis=2) ## stop at left limit
acsc.toPoint(self.hc, flags=0, axis=2, target=2.8915)
print 'Axis 2 (Lens array): Homing completed'
## Axis 4
acsc.waitMotionEnd(self.hc, axis=4) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=4, target=4.42)
acsc.waitMotionEnd(self.hc, axis=4)
if acsc.setFPosition(self.hc, axis=4, fposition=0) == 1:
print 'Axis 4 (Receiver X): Homing completed'
else:
print 'Axis 4 (Receiver X): Homing failed'
## Axis5
acsc.waitMotionEnd(self.hc, axis=5) ## stop at left limit
acsc.toPoint(self.hc, flags=acsc.AMF_RELATIVE, axis=5, target=23.8)
acsc.waitMotionEnd(self.hc, axis=5)
if acsc.setFPosition(self.hc, axis=5, fposition=0) == 1:
print 'Axis 5 (Receiver Y): Homing completed'
else:
print 'Axis 5 (Receiver Y): Homing failed'
## parameter setting
acsc.setVelocity(self.hc, 0, 30) ## axis 0 (linear X)
acsc.setAcceleration(self.hc, 0, 100)
acsc.setDeceleration(self.hc, 0, 100)
acsc.setJerk(self.hc, 0, 1000)
acsc.setVelocity(self.hc, 1, 30) ## axis1 (linear Y)
acsc.setAcceleration(self.hc, 1, 100)
acsc.setDeceleration(self.hc, 1, 100)
acsc.setJerk(self.hc, 1, 1000)
acsc.setVelocity(self.hc, 2, 30) ## axis 2 (revolver)
acsc.setAcceleration(self.hc, 2, 100)
acsc.setDeceleration(self.hc, 2, 100)
acsc.setJerk(self.hc, 2, 1000)
acsc.setVelocity(self.hc, 4, 30) ## axis4 (step X)
acsc.setAcceleration(self.hc, 4, 100)
acsc.setDeceleration(self.hc, 4, 100)
acsc.setJerk(self.hc, 4, 1000)
acsc.setVelocity(self.hc, 5, 30) ## axis 5 (step Y)
acsc.setAcceleration(self.hc, 5, 100)
acsc.setDeceleration(self.hc, 5, 100)
acsc.setJerk(self.hc, 5, 1000)
acsc.setVelocity(self.hc, 6, 5) ## axis 6 (step Z)
acsc.setAcceleration(self.hc, 6, 50)
acsc.setDeceleration(self.hc, 6, 50)
acsc.setJerk(self.hc, 1, 100)
def setVelocity(self, axis, value):
if not acsc.setVelocity(self.hc, axis, value):
print "Transaction error: %d\n" % (acsc.getLastError())
def vel(self, velocity):
"""Sets axis velocity."""
acsc.setVelocity(self.controller.hc, self.axisno, velocity)
