navigate.model.devices.zoom.dynamixel.DynamixelZoom

class navigate.model.devices.zoom.dynamixel.DynamixelZoom(microscope_name, device_connection, configuration)

Bases: ZoomBase

DynamixelZoom Class - Controls the Dynamixel Servo.

__init__(microscope_name, device_connection, configuration)

Initialize the DynamixelZoom Servo.

Parameters:

• microscope_name (str) – Name of the microscope.

• device_connection (int) – Connection string for the device.

• configuration (dict) – Configuration dictionary for the device.

Methods

__init__(microscope_name, device_connection, ...)	Initialize the DynamixelZoom Servo.
build_stage_dict()	Construct a dictionary of stage offsets in between different zoom values.
move(position[, wait_until_done])	Move the DynamixelZoom Servo
read_position()	Read the position of the Zoom Servo.
set_zoom(zoom[, wait_until_done])	Change the DynamixelZoom Servo.

Attributes

dynamixel	DynamixelZoom object.
id	DynamixelZoom ID.
addr_mx_torque_enable	DynamixelZoom torque enable.
addr_mx_goal_position	DynamixelZoom goal position.
addr_mx_present_position	DynamixelZoom present position.
addr_mx_p_gain	DynamixelZoom p gain.
addr_mx_torque_limit	DynamixelZoom torque limit.
addr_mx_moving_speed	DynamixelZoom moving speed.
goal_position_offset	DynamixelZoom goal position offset.
sleeptime	DynamixelZoom sleep time.
timeout	DynamixelZoom timeout duration.
torque_enable	DynamixelZoom torque enable.
torque_disable	DynamixelZoom torque disable.
port_num	DynamixelZoom port number.

build_stage_dict()

Construct a dictionary of stage offsets in between different zoom values.

This assumes self.configuration[“stage_positions”] is a dictionary of ideal focus positions for the same object taken in the same solvent at each magnification. e.g.,

stage_positions:

BABB:

f:

0.63x: 0 1x: 70775 2x: 72455 3x: 72710 4x: 72795 5x: 72850 6x: 72880

The resulting dictionary is keyed first on solvent (refractive index), followed by the stage axis to offset, followed by the current magnification and then the target magnification.

move(position, wait_until_done=False)

Move the DynamixelZoom Servo

Parameters:

• position (int) – Location to move to.

• wait_until_done (bool) – Delay parameter

read_position()

Read the position of the Zoom Servo.

Returned position is an int between 0 and 4096. Opens and closes the port.

Returns:

cur_position – Servo position.

Return type:

int

set_zoom(zoom, wait_until_done=False)

Change the DynamixelZoom Servo.

Confirms that the zoom position is available in the zoomdict, and then changes to that zoom value.

Parameters:

• zoom (dict) – Zoom dictionary

• wait_until_done (bool) – Delay parameter.

Raises:

ValueError – If the zoom designation is not in the configuration.

addr_mx_goal_position

DynamixelZoom goal position.

Type:

int

addr_mx_moving_speed

DynamixelZoom moving speed.

Type:

int

addr_mx_p_gain

DynamixelZoom p gain.

Type:

int

addr_mx_present_position

DynamixelZoom present position.

Type:

int

addr_mx_torque_enable

DynamixelZoom torque enable.

Type:

int

addr_mx_torque_limit

DynamixelZoom torque limit.

Type:

int

configuration

Configuration dictionary for the device.

Type:

dict

dynamixel

DynamixelZoom object.

Type:

object

goal_position_offset

DynamixelZoom goal position offset.

Type:

int

id

DynamixelZoom ID.

Type:

int

port_num

DynamixelZoom port number.

Type:

obj

sleeptime

DynamixelZoom sleep time.

Type:

float

timeout

DynamixelZoom timeout duration.

Type:

float

torque_disable

DynamixelZoom torque disable.

Type:

int

torque_enable

DynamixelZoom torque enable.

Type:

int

zoomdict

Zoom dictionary

Type:

dict

zoomvalue

the desired zoom setting

Type:

float