# Obtain current position of motor print(Motor1.getPos()) ipdb.set_trace() # You can control multiple motors by creating more APTMotor Objects # Serial numbers can be added later by using setSerialNumber and initializeHardwareDevice # This functionality is particularly useful in the GUI setup. Motor2 = APTMotor() Motor2.setSerialNumber(SN) Motor2.initializeHardwareDevice() print(Motor2.getPos()) # Move motor forward by 1mm, wait half a second, and return to original position. # mRel is move relative. mAbs is move absolute (go to position xxx) Motor1.mRel(1) # advance 1mm time.sleep(.5) Motor1.mRel(-1) # retract 1mm time.sleep(1) # Move motor forward by 1mm, wait half a second, and return to original position, at a velocity of 0.5mm/sec motVel = 0.5 #motor velocity, in mm/sec Motor1.mcRel(1, motVel) # advance 1mm time.sleep(.5) Motor1.mcRel(-1, motVel) # retract 1mm # Clean up APT object, free up memory Motor1.cleanUpAPT()
# Obtain current position of motor print(Motor1.getPos()) # You can control multiple motors by creating more APTMotor Objects # Serial numbers can be added later by using setSerialNumber and initializeHardwareDevice # This functionality is particularly useful in the GUI setup. Motor2 = APTMotor() Motor2.setSerialNumber(83829690) Motor2.initializeHardwareDevice() print(Motor2.getPos()) # Move motor forward by 1mm, wait half a second, and return to original position. # mRel is move relative. mAbs is move absolute (go to position xxx) Motor1.mRel(1) # advance 1mm time.sleep(.5) Motor1.mRel(-1) # retract 1mm time.sleep(1) # Move motor forward by 1mm, wait half a second, and return to original position, at a velocity of 0.5mm/sec motVel = 0.5 #motor velocity, in mm/sec Motor1.mcRel(1, motVel) # advance 1mm time.sleep(.5) Motor1.mcRel(-1, motVel) # retract 1mm # Clean up APT object, free up memory Motor1.cleanUpAPT()
class widgetAPT(QWidget):
def __init__(self, parent = None, serial=00000000, verbose=False):
super(widgetAPT, self).__init__(parent)
self.resize(200, 100)
#self.move(100, 100)
#setGeometry sets both location and size
#self.setGeometry(50, 50, 1180, 900)
self.setWindowTitle('APT Motor')
#self.m = APTMotor(0)
# QT GridLayout
# TODO: Implement GridLayout
#grid = QGridLayout()
# Layout objects
sAuthor = QLabel("QT-APT", self)
sAuthor.resize(100, 20)
sAuthor.move(100, 0)
sAuthor.setAlignment(Qt.AlignRight)
sVersion = QLabel("v1.0.0", self)
sVersion.resize(100, 20)
sVersion.move(100, 15)
sVersion.setAlignment(Qt.AlignRight)
sEmail = QLabel("Michael Leung", self)
sEmail.resize(100, 40)
sEmail.move(100, 30)
sEmail.setAlignment(Qt.AlignRight)
# Motor Serial Number
sSer = QLabel("Serial:", self)
sSer.resize(60, 20)
sSer.move(0, 0)
self.txtSerial = QSpinBox(self)
self.txtSerial.resize(70,20)
self.txtSerial.move(30,0)
self.txtSerial.setRange(0, 99999999)
self.txtSerial.setSingleStep(1)
self.txtSerial.setValue(83840946)
# qle.textChanged[str].connect(self.onChanged) #do onChanged when changed
self._Motor_ = APTMotor(verbose=verbose)
# Motor Connect
self.btnConnect = QPushButton("Connect", self)
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.btnConnect.setCheckable(True)
self.btnConnect.setToolTip("Connect to Motor")
self.btnConnect.resize(50, 20)
self.btnConnect.move(105, 0)
self.btnConnect.clicked[bool].connect(self.connectAPT)
sPos = QLabel("Pos:", self)
sPos.resize(70, 20)
sPos.move(0, 25)
self.txtPos = QDoubleSpinBox(self)
self.txtPos.resize(60, 20)
self.txtPos.move(30, 25)
#self.txtPos.setMaxLength(7)
self.txtPos.setRange(0, 20)
self.txtPos.setSingleStep(.1)
self.txtPos.setDecimals(5)
self.txtPos.setValue(0.0000000)
self.txtPos.setToolTip("Current Motor Position")
#self.txtPos.setValidator( QDoubleValidator(0, 100, 2) )
self.txtPos.setEnabled(False)
# Go to position
btnGOp = QPushButton("Go", self)
btnGOp.resize(25, 20)
btnGOp.move(100, 25)
btnGOp.clicked.connect(lambda: self.motAbs(float(self.txtPos.text())))
# Movement buttons
btnN3 = QPushButton("-100", self)
btnN3.resize(32, 20)
btnN3.move(0, 50)
btnN3.clicked.connect(lambda: self.motRel(-.1))
btnN2 = QPushButton("-10", self)
btnN2.resize(32, 20)
btnN2.move(33, 50)
btnN2.clicked.connect(lambda: self.motRel(-.01))
btnN1 = QPushButton("-1", self)
btnN1.resize(32, 20)
btnN1.move(66, 50)
btnN1.clicked.connect(lambda: self.motRel(-.001))
btnP1 = QPushButton("+1", self)
btnP1.resize(32, 20)
btnP1.move(100, 50)
btnP1.clicked.connect(lambda: self.motRel(.001))
btnP2 = QPushButton("+10", self)
btnP2.resize(32, 20)
btnP2.move(133, 50)
btnP2.clicked.connect(lambda: self.motRel(.01))
btnP3 = QPushButton("+100", self)
btnP3.resize(32, 20)
btnP3.move(166, 50)
btnP3.clicked.connect(lambda: self.motRel(.1))
sVel = QLabel("Vel:", self)
sVel.resize(60, 20)
sVel.move(0, 75)
self.txtVel = QDoubleSpinBox(self)
self.txtVel.resize(60, 20)
self.txtVel.move(30, 75)
#self.txtVel.setMaxLength(7)
self.txtVel.setRange(0, 2.2)
self.txtVel.setSingleStep(.1)
self.txtVel.setValue(0.000)
self.txtVel.setToolTip("Current Motor Position")
self.txtVel.setEnabled(False)
# Go to velocity
btnGOv = QPushButton("Go", self)
btnGOv.resize(25, 20)
btnGOv.move(100, 75)
btnGOv.clicked.connect(lambda: self._Motor_.setVel(float(self.txtVel.text())))
sBack = QLabel("Backlash:", self)
sBack.resize(60, 20)
sBack.move(130, 75)
self.cbBacklash = QCheckBox(self)
self.cbBacklash.resize(60, 20)
self.cbBacklash.move(180, 75)
self.show()
def connectAPT(self, pressed):
if pressed:
#APT Motor connect
Serial = int(self.txtSerial.text())
self._Motor_.setSerialNumber(Serial)
self._Motor_.initializeHardwareDevice()
# Success
self.btnConnect.setStyleSheet("background-color: green")
self.btnConnect.setText("Connected")
self.txtSerial.setEnabled(False)
self.txtPos.setEnabled(True)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
self.txtVel.setEnabled(True)
_, _, maxVel = self._Motor_.getVelocityParameters()
self.txtVel.setValue( maxVel )
return True
else:
#APT Motor disconnect
self._Motor_.cleanUpAPT()
# Success
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.txtSerial.setEnabled(True)
self.txtPos.setEnabled(False)
self.txtVel.setEnabled(False)
self.txtPos.setValue(0.0000)
self.txtPos.setToolTip("Current Motor Position")
return True
def motRel(self, relDistance):
if self.cbBacklash.isChecked() :
self._Motor_.mbRel(relDistance)
else:
self._Motor_.mRel(relDistance)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
def motAbs(self, absDistance):
if self.cbBacklash.isChecked() :
self._Motor_.mbAbs(absDistance)
else:
self._Motor_.mAbs(absDistance)
# Update text to show position
self.txtPos.setValue( self._Motor_.getPos() )
#S Iodine stage SN = 40864672 HWTYPE = 12 motor = APTMotor(SN,HWTYPE) start = datetime.datetime.now() motor.initializeHardwareDevice() end = datetime.datetime.now() print 'connected :' + str((end-start).total_seconds()) currentPos = motor.getPos() print currentPos motor.mAbs(0.0) #time.sleep(5) currentPos = motor.getPos() print currentPos start = datetime.datetime.now() motor.cleanUpAPT() end = datetime.datetime.now() print 'connected :' + str((end-start).total_seconds())
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
handler.connect(fig)
# Begin scan
i = 0
for z in np.linspace(scan_z[0], scan_z[1], scan_steps_z):
z_axis.mAbs(z)
for x in np.linspace(scan_x[0], scan_x[1], scan_steps_x):
print("Moving to ({0:.3f},{1:.3f})".format(x, z))
x_axis.mAbs(x)
plt.pause(0.5)
image_name = image_dir + "/{0:d}.raw".format(i)
image = cam.retrieveBuffer()
image.save(image_name.encode(), PyCapture2.IMAGE_FILE_FORMAT.RAW)
print("Image saved : '", image_name, "'\n")
image = image.convert(PyCapture2.PIXEL_FORMAT.RAW8)
data = image.getData().reshape(shape)
data = data[0::2, 0::2]
axis_image.set_data(data)
axis.set_title(image_name)
i += 1
# Scan terminated
print("Scan terminated")
# Close peripherals
z_axis.cleanUpAPT()
x_axis.cleanUpAPT()
class widgetAPT(QWidget):
def __init__(self, parent=None, serial=00000000):
super(widgetAPT, self).__init__(parent)
self.resize(200, 200)
#self.move(100, 100)
#setGeometry sets both location and size
#self.setGeometry(50, 50, 1180, 900)
self.setWindowTitle('APT Motor')
#self.m = APTMotor(0)
# QT GridLayout
# TODO: Implement GridLayout
#grid = QGridLayout()
# Layout objects
sAuthor = QLabel("QT-APT", self)
sAuthor.resize(100, 20)
sAuthor.move(100, 0)
sAuthor.setAlignment(Qt.AlignRight)
sVersion = QLabel("v1.0.0", self)
sVersion.resize(100, 20)
sVersion.move(100, 15)
sVersion.setAlignment(Qt.AlignRight)
sEmail = QLabel("Michael Leung", self)
sEmail.resize(100, 40)
sEmail.move(100, 35)
sEmail.setAlignment(Qt.AlignRight)
# Motor Serial Number
sSer = QLabel("Serial:", self)
sSer.resize(60, 20)
sSer.move(0, 0)
self.txtSerial = QSpinBox(self)
self.txtSerial.resize(70, 20)
self.txtSerial.move(30, 0)
self.txtSerial.setRange(0, 99999999)
self.txtSerial.setSingleStep(1)
self.txtSerial.setValue(83840946)
# qle.textChanged[str].connect(self.onChanged) #do onChanged when changed
self._Motor_ = APTMotor()
# Motor Connect
self.btnConnect = QPushButton("Connect", self)
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.btnConnect.setCheckable(True)
self.btnConnect.setToolTip("Connect to Motor")
self.btnConnect.resize(50, 20)
self.btnConnect.move(105, 0)
self.btnConnect.clicked[bool].connect(self.connectAPT)
sPos = QLabel("Pos:", self)
sPos.resize(60, 20)
sPos.move(0, 25)
self.txtPos = QDoubleSpinBox(self)
self.txtPos.resize(60, 20)
self.txtPos.move(30, 25)
#self.txtPos.setMaxLength(7)
self.txtPos.setRange(0, 20)
self.txtPos.setSingleStep(.1)
self.txtPos.setDecimals(5)
self.txtPos.setValue(0.0000000)
self.txtPos.setToolTip("Current Motor Position")
#self.txtPos.setValidator( QDoubleValidator(0, 100, 2) )
self.txtPos.setEnabled(False)
# Go to position
btnGOp = QPushButton("Go", self)
btnGOp.resize(25, 20)
btnGOp.move(95, 25)
btnGOp.clicked.connect(lambda: self.motAbs(float(self.txtPos.text())))
# Movement buttons
btnN3 = QPushButton("-100", self)
btnN3.resize(30, 20)
btnN3.move(0, 50)
btnN3.clicked.connect(lambda: self.motRel(-.1))
btnN2 = QPushButton("-10", self)
btnN2.resize(30, 20)
btnN2.move(30, 50)
btnN2.clicked.connect(lambda: self.motRel(-.01))
btnN1 = QPushButton("-1", self)
btnN1.resize(30, 20)
btnN1.move(60, 50)
btnN1.clicked.connect(lambda: self.motRel(-.001))
btnP1 = QPushButton("+1", self)
btnP1.resize(30, 20)
btnP1.move(100, 50)
btnP1.clicked.connect(lambda: self.motRel(.001))
btnP2 = QPushButton("+10", self)
btnP2.resize(30, 20)
btnP2.move(130, 50)
btnP2.clicked.connect(lambda: self.motRel(.01))
btnP3 = QPushButton("+100", self)
btnP3.resize(30, 20)
btnP3.move(160, 50)
btnP3.clicked.connect(lambda: self.motRel(.1))
sVel = QLabel("Vel:", self)
sVel.resize(60, 20)
sVel.move(0, 75)
self.txtVel = QDoubleSpinBox(self)
self.txtVel.resize(60, 20)
self.txtVel.move(30, 75)
#self.txtVel.setMaxLength(7)
self.txtVel.setRange(0, 2.2)
self.txtVel.setSingleStep(.1)
self.txtVel.setValue(0.00000)
self.txtVel.setToolTip("Current Motor Position")
self.txtVel.setEnabled(False)
# Go to velocity
btnGOv = QPushButton("Go", self)
btnGOv.resize(25, 20)
btnGOv.move(95, 75)
btnGOv.clicked.connect(
lambda: self._Motor_.setVel(float(self.txtVel.text())))
sBack = QLabel("Backlash:", self)
sBack.resize(60, 20)
sBack.move(130, 75)
self.cbBacklash = QCheckBox(self)
self.cbBacklash.resize(60, 20)
self.cbBacklash.move(180, 75)
self.show()
def connectAPT(self, pressed):
if pressed:
#APT Motor connect
Serial = int(self.txtSerial.text())
self._Motor_.setSerialNumber(Serial)
self._Motor_.initializeHardwareDevice()
# Success
self.btnConnect.setStyleSheet("background-color: green")
self.btnConnect.setText("Connected")
self.txtSerial.setEnabled(False)
self.txtPos.setEnabled(True)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
self.txtVel.setEnabled(True)
_, _, maxVel = self._Motor_.getVelocityParameters()
self.txtVel.setValue(maxVel)
return True
else:
#APT Motor disconnect
self._Motor_.cleanUpAPT()
# Success
self.btnConnect.setStyleSheet("background-color: grey")
self.btnConnect.setText("Connect")
self.txtSerial.setEnabled(True)
self.txtPos.setEnabled(False)
self.txtVel.setEnabled(False)
self.txtPos.setValue(0.0000)
self.txtPos.setToolTip("Current Motor Position")
return True
def motRel(self, relDistance):
if self.cbBacklash.isChecked():
self._Motor_.mbRel(relDistance)
else:
self._Motor_.mRel(relDistance)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())
def motAbs(self, absDistance):
if self.cbBacklash.isChecked():
self._Motor_.mbAbs(absDistance)
else:
self._Motor_.mAbs(absDistance)
# Update text to show position
self.txtPos.setValue(self._Motor_.getPos())