Thomas K Ales [MSE]
88 lines
3.3 KiB
Python
Executable File
88 lines
3.3 KiB
Python
Executable File
"""GR rotation axis: the T3R configuration and move policy for scanning.
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Qt-free façade over hardware.t3r_driver.T3RDriver that owns the drive
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settings the scan depends on, so the engine never re-derives them.
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"""
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from __future__ import annotations
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import logging
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from dataclasses import dataclass
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logger = logging.getLogger(__name__)
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@dataclass(frozen=True)
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class RotationSettings:
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"""Drive settings for the GR axis during a scan."""
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microsteps: int = 8 # microsteps/full-step on the GR axis (ch3)
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velocity: int = 4000 # steps/s for inter-angle moves
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accel: int = 2000 # steps/s² for inter-angle moves
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run_current_ma: int = 1200 # drive current while moving
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hold_current_ma: int = 400 # standstill current
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ihold_delay: int = 6 # run→hold current ramp delay (TMC IHOLDDELAY units)
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# The sample rotates CW instead of CCW to clear wiring and avoid a stall.
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rotation_sign: int = -1
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DEFAULT_ROTATION = RotationSettings()
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class RotationAxis:
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"""Blocking rotation control for the GR axis.
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``configure()`` must run before any move: ``steps_for_angle()`` assumes
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the configured microstep setting, so the device has to be told to match
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rather than trusting whatever the T3R panel or firmware default left it
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at.
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"""
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def __init__(self, driver, settings: RotationSettings = DEFAULT_ROTATION):
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self.driver = driver
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self.settings = settings
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self._current_deg = 0.0
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@property
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def is_available(self) -> bool:
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return self.driver is not None and self.driver.is_open
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@property
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def current_deg(self) -> float:
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return self._current_deg
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def configure(self) -> None:
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s = self.settings
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ch = self.driver.GR_AXIS_CH
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self.driver.set_microstep(ch, s.microsteps)
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self.driver.set_current(ch, s.run_current_ma, s.hold_current_ma, s.ihold_delay)
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self.driver.enable(ch)
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def estimate_move_secs(self, delta_deg: float) -> float:
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"""Trapezoidal move time: cruise + accel/decel ramps."""
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s = self.settings
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steps = abs(self.driver.steps_for_angle(delta_deg, s.microsteps))
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return steps / s.velocity + s.velocity / s.accel
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def rotate_to(self, angle_deg: float, timeout_margin_s: float = 5.0) -> float:
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"""Rotate to an absolute angle and block until the move completes.
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Returns the estimated move time (for status reporting). Waits on the
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driver's MOTION_DONE event rather than sleeping for a guessed
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duration; falls back to the estimate only if the event never arrives.
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"""
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delta_deg = angle_deg - self._current_deg
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if abs(delta_deg) <= 0.001:
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return 0.0
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s = self.settings
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est_secs = self.estimate_move_secs(delta_deg)
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self.driver.rotate_stage(delta_deg, s.microsteps, s.velocity, s.accel)
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if not self.driver.wait_motion_done(self.driver.GR_AXIS_CH,
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est_secs + timeout_margin_s):
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logger.warning(
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"GR axis did not report MOTION_DONE within %.1f s for a "
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"%.1f° move; continuing", est_secs + timeout_margin_s, delta_deg)
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self._current_deg = angle_deg
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return est_secs
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def return_to_zero(self) -> float:
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return self.rotate_to(0.0)
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