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adding unit check and setting initial values for close loop and velocity #7

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Merged
seb5g merged 1 commit into from
Sep 12, 2025
Merged

adding unit check and setting initial values for close loop and velocity #7

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27 changes: 18 additions & 9 deletions src/pymodaq_plugins_montana/daq_move_plugins/daq_move_Rook.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,14 @@ class DAQ_Move_Rook(DAQ_Move_base):
"""
is_multiaxes = True
_axis_names: Union[List[str], Dict[str, int]] = {'Xaxis': 1, 'Yaxis': 2, 'Zaxis':3}
_controller_units: Union[str, List[str]] = 'm'
_epsilon: Union[float, List[float]] = 1e-7
_controller_units: Union[str, List[str]] = 'µm'
_epsilon: Union[float, List[float]] = 0.1
data_actuator_type = DataActuatorType.DataActuator
params = [
{'title': 'Server IP:', 'name': 'ipaddress', 'type': 'str', 'value': plugin_config('ip_address')},
{'title': 'Cryo. Port:', 'name': 'cryo_port', 'type': 'int', 'value': plugin_config('rook_port')},
{'title': 'Close Loop:', 'name': 'close_loop', 'type': 'bool', 'value': True},
{'title': 'Velocity:', 'name': 'velocity', 'type': 'float', 'value': 1, 'suffix': 'um/s'},
] + comon_parameters_fun(is_multiaxes, axis_names=_axis_names, epsilon=_epsilon)

def ini_attributes(self):
Expand All @@ -55,7 +57,7 @@ def get_actuator_value(self):
"""

pos = DataActuator(data=self.controller.get_axis_encoder_position(self.stack_num, self.axis_value),
units=self.axis_unit)
units='m')
pos = self.get_position_with_scaling(pos)
return pos

Expand All @@ -81,7 +83,12 @@ def commit_settings(self, param: Parameter):
param: Parameter
A given parameter (within detector_settings) whose value has been changed by the user
"""
pass
if param.name() == 'close_loop':
self.controller.set_axis_closed_loop(self.stack_num, self.axis_value,
param.value())
elif param.name() == 'velocity':
self.controller.set_axis_velocity(self.stack_num, self.axis_value,
Q_(param.value(), param.opts['suffix']).m_as('m/s'))

def ini_stage(self, controller=None):
"""Actuator communication initialization
Expand All @@ -102,18 +109,20 @@ def ini_stage(self, controller=None):
self.controller = Rook(ip=self.settings['ipaddress'], port=self.settings['cryo_port'])
else:
self.controller = controller
self.commit_settings(self.settings.child('close_loop'))
self.commit_settings(self.settings.child('velocity'))

self.emit_status(ThreadCommand('update_ui', attribute='set_abs_value_red',
args=[Q_(0, 'um')]))

self.emit_status(ThreadCommand('update_ui', attribute='set_abs_value_green',
args=[Q_(100, 'um')]))
args=[Q_(10, 'um')]))

self.emit_status(ThreadCommand('update_ui', attribute='set_abs_value',
args=[Q_(100, 'um')]))
args=[Q_(10, 'um')]))

self.emit_status(ThreadCommand('update_ui', attribute='set_rel_value',
args=[Q_(100, 'um')]))
args=[Q_(1, 'um')]))

info = "Rook is connected"
initialized = True
Expand All @@ -126,11 +135,11 @@ def move_abs(self, value: DataActuator):
----------
value: (float) value of the absolute target positioning
"""

value = self.check_bound(value) #if user checked bounds, the defined bounds are applied here
self.target_value = value
value = self.set_position_with_scaling(value) # apply scaling if the user specified one
self.controller.move_axis_absolute_position(self.stack_num, self.axis_value, value.value())
self.controller.move_axis_absolute_position(self.stack_num, self.axis_value,
value.to_base_units().value())

def move_rel(self, value: DataActuator):
""" Move the actuator to the relative target actuator value defined by value
Expand Down
18 changes: 15 additions & 3 deletions src/pymodaq_plugins_montana/hardware/rook.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,11 +65,17 @@ def wait_for_axis_not_moving(self, stack_num, axis_num, max_wait=datetime.timede

return reached_target

def set_axis_velocity(self, stack_num, axis_num, velocity):
'''Set the target velocity of the given axis'''
def set_axis_velocity(self, stack_num: int, axis_num: int, velocity: float):
'''Set the target velocity of the given axis

velocity in m/s
'''
self.set_prop(f'stacks/stack{stack_num}/axes/axis{axis_num}/properties/velocity', velocity)
return

def get_axis_velocity(self, setack_num, axis_num) -> float:
return self.get_prop(f'stacks/stack{stack_num}/axes/axis{axis_num}/properties/velocity')['velocity']

def move_axis_to_negative_limit(self, stack_num, axis_num, wait=False):
'''Move axis to the negative limit'''
self.call_method(f'stacks/stack{stack_num}/axes/axis{axis_num}/methods/moveToNegativeLimit()')
Expand All @@ -83,7 +89,13 @@ def move_axis_to_positive_limit(self, stack_num, axis_num, wait=False):
return

def move_axis_absolute_position(self, stack_num, axis_num, pos, wait=False):
'''Move axis to an absolute position'''
"""Move axis to an absolute position

Parameter
---------
pos: float
position in meter
"""
self.call_method(f'stacks/stack{stack_num}/axes/axis{axis_num}/methods/moveAbsolute(double:pos)', pos)
if wait: self.wait_for_axis_not_moving(stack_num, axis_num)
return
Expand Down
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