# Chip Stage class
#
# Be aware positive rotation of gon_r move chip right edge downwards
# Be aware positive rotation of gon_l move chip top edge downwards
import threading
#from rotator import Rotator
import numpy as np
# helper functions to add/subtract tuples
[docs]def t_add(tuple1, tuple2):
return tuple(np.add(tuple1, tuple2))
[docs]def t_sub(tuple1, tuple2):
return tuple(np.subtract(tuple1, tuple2))
##
[docs]class ChipStage(object):
def __init__(self, mtr_list):
'''
:param mtr_list: a list containing the following objects
[
rotation_stage,
gonio_stage_T,
gonio_stage_B
]
'''
self.name = ''
self.stepsize = 1
# To bring the dist_measurement to valid start point
# can be left at zero with wide enough chip holders
self.width_off = 0 #3.5 # 2.5
self.length_off = 4 #1.0 # 1.5
#Calibration for Chip Leveling for X-Axis
self.x_coordX = 0
self.y_coordX = 3.5
#Calibration for Chip Leveling for Y-Axis
self.x_coordY = 8.5
self.y_coordY = 1
self.r, self.t, self.b = (0, 0, 0)
self.zeros = (0, 0, 0)
# def r_init():
# self.rot = Rotator(ser_list[0])
# def gT_init():
# self.gon_T = GonStage(ser_list[1], 'GNL10')
# def gB_init():
# self.gon_B = GonStage(ser_list[2], 'GNL18')
#
# t_r = threading.Thread(target=r_init)
# t_gT = threading.Thread(target=gT_init)
# t_gB = threading.Thread(target=gB_init)
#
# t_r.start(), t_gB.start(), t_gT.start()
# t_r.join(), t_gB.join(), t_gT.join()
self.rot, self.gon_T, self.gon_B = mtr_list
def set_stepsize(self,stepsize):
'''
Updates the degree stepsize used in step() function
'''
self.stepsize = stepsize
[docs] def home(self):
''' Sets all chip stage motors to home'''
r = threading.Thread(self.rot.home())
gT = threading.Thread(self.gon_T.home())
gB = threading.Thread(self.gon_B.home())
# Starts x-direction, then y-direction and z-direction
r.start(); gT.start(), gB.start()
# Reset isntance variables
self.r, self.t, self.b = (0, 0, 0)
self.zeros = (0, 0, 0)
self.stepsize = 1
[docs] def check_coordinates(self, target_pos):
act_r, act_t, act_b = t_add(target_pos, self.zeros)
if self.gon_T.check_abs_transl(act_t) and self.gon_T.check_abs_transl(act_b):
return True
else:
return False
[docs] def set_stepsize(self,stepsize):
'''
Updates the stepsize used in step() function
'''
self.stepsize = stepsiz
[docs] def step(self, direction):
'''
- Move Stage in either direction by one step
- Step Size defined in set_stepsize()
- direction expected to be char: L(CW),R(CCW)
'''
if self.rot.moving == False:
if direction == 'U':
self.rot.delta_angle(self.stepsize)
self.r += self.stepsize
if direction == 'D':
self.rot.delta_angle(-self.stepsize)
self.r -= self.stepsize
if self.gon_B.moving == False:
if direction == 'L':
self.gon_B.delta_rot(self.stepsize)
self.b += self.stepsize
if direction == 'R':
self.gon_B.delta_rot(-self.stepsize)
self.b -= self.stepsize
if self.gon_T.moving == False:
if direction == 'F':
self.gon_T.delta_rot(self.stepsize)
self.t += self.stepsize
if direction == 'B':
self.gon_T.delta_rot(-self.stepsize)
self.t -= self.stepsize
[docs] def get_coordinates(self):
return (self.r, self.t, self.b)
[docs] def get_rot(self):
return self.rot.get_angle()
[docs] def set_coordinates(self, target_pos):
'''
Move to a point in the plane
target_pos (3-tuple): (rot,g_T ,g_B) coordinates of the final point
'''
# actual distances sent to motors
act_r, act_t, act_b = t_add(target_pos, self.zeros)
if not self.rot.moving and not self.gon_T.moving and not self.gon_B.moving and self.gon_T.check_abs_transl(act_t) and self.gon_B.check_abs_transl(act_b):
self.r, self.t, self.b = target_pos
# threading approach
t_r = threading.Thread(target=Rotator.abs_angle, args=(self.rot, act_r))
t_t = threading.Thread(target=GonStage.abs_rot, args=(self.gon_T, act_t))
t_b = threading.Thread(target=GonStage.abs_rot, args=(self.gon_B, act_b))
t_r.start(), t_t.start(), t_b.start()
t_r.join(), t_t.join(), t_b.join()
else:
print 'chip_stage::error: Attempted move out of bounds (abs_pos:{},{},{})'.format(act_r, act_t, act_b)
[docs] def set_rot(self, target_pos):
'''
Rotate the chip stage
'''
self.set_coordinates((target_pos, self.t, self.b))
[docs] def close(self):
'''
Closes the underlying motors
'''
self.rot.close()
self.gon_T.close()
self.gon_B.close()
[docs] def set_whoAmI(self, name):
self.name = name
[docs] def whoAmI(self):
return self.name
'''
Copyright (C) 2017 Robert Polster
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
'''
