UC2-REST 0.2.0.36__tar.gz → 0.2.0.37__tar.gz

{uc2_rest-0.2.0.36 → uc2_rest-0.2.0.37}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: UC2-REST
-Version: 0.2.0.36
+Version: 0.2.0.37
 Summary: This pacage will help you to drive the ESP32-driven microscopy control modules from UC2
 Home-page: https://github.com/openUC2/UC2-REST
 Author: Benedict Diederich

{uc2_rest-0.2.0.36 → uc2_rest-0.2.0.37}/UC2_REST.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: UC2-REST
-Version: 0.2.0.36
+Version: 0.2.0.37
 Summary: This pacage will help you to drive the ESP32-driven microscopy control modules from UC2
 Home-page: https://github.com/openUC2/UC2-REST
 Author: Benedict Diederich

{uc2_rest-0.2.0.36 → uc2_rest-0.2.0.37}/uc2rest/__version__.py

@@ -6,7 +6,7 @@ __version__.py
 
 __title__ = 'UC2-REST'
 __description__ = 'This pacage will help you to drive the ESP32-driven microscopy control modules from UC2'
-__version__ = "0.2.0.36"
+__version__ = "v0.2.0.37"
 __author__ = 'Benedict Diederich'
 __author_email__ = 'benedictdied@gmail.com'
 __license__ = 'GPL v3'

{uc2_rest-0.2.0.36 → uc2_rest-0.2.0.37}/uc2rest/motor.py

@@ -91,12 +91,19 @@ class Motor(object):
             nSteppers = len(data["steppers"])
             stepSizes = np.array((self.stepSizeA, self.stepSizeX, self.stepSizeY, self.stepSizeZ))
             for iMotor in range(nSteppers):
-                stepperID = data["steppers"][iMotor]["stepperid"]
+                stepper = data["steppers"][iMotor]
+                # Intermediate status frames during a move carry only
+                # {stepperid, isDone} with no "position" key — skip them instead
+                # of raising KeyError 'position' (which previously aborted the
+                # whole callback and left currentPosition stale).
+                if "position" not in stepper:
+                    continue
+                stepperID = stepper["stepperid"]
                 # Hardware returns raw steps in firmware frame; convert to physical units
                 # in user frame: phys = hw_steps * stepSize * direction. The direction sign
                 # hides any wiring polarity flip from the caller.
                 self.currentPosition[stepperID] = (
-                    data["steppers"][iMotor]["position"]
+                    stepper["position"]
                     * stepSizes[stepperID]
                     * self.direction[stepperID]
                 )
@@ -333,6 +340,26 @@ class Motor(object):
             self.stepSizeA = stepSize
         self.backlash[axisIdx] = backlash
 
+    def set_backlash(self, axis, backlash):
+        """Set the per-axis backlash (in hardware steps) used as a reversal overshoot.
+
+        ``axis`` may be a name (\"X\"/\"Y\"/\"Z\"/\"A\") or a hardware index (0-3).
+        The value is stored in :attr:`backlash` and consumed by
+        :meth:`move_stepper`, which adds ``direction * backlash`` extra steps
+        whenever the axis changes direction, taking up the mechanical slack so the
+        stage still reaches the commanded target. Pass ``0`` to disable
+        compensation for that axis. Typically fed from a camera-based backlash
+        measurement (microns) after converting to steps with the axis step size.
+        """
+        idx = self.xyztTo1230(axis) if isinstance(axis, str) else int(axis)
+        self.backlash[idx] = backlash
+        return float(self.backlash[idx])
+
+    def get_backlash(self, axis):
+        """Return the per-axis backlash (in hardware steps)."""
+        idx = self.xyztTo1230(axis) if isinstance(axis, str) else int(axis)
+        return float(self.backlash[idx])
+
     def xyztTo1230(self, axis):
         axis = axis.upper()
         if axis == "X":
@@ -705,7 +732,7 @@ class Motor(object):
                     motorProp["acceleration"] = int(acceleration[iMotor])
                 else:
                     motorProp["accel"] = self.DEFAULT_ACCELERATION
-                    motorProp["acceleleration"] = self.DEFAULT_ACCELERATION
+                    motorProp["acceleration"] = self.DEFAULT_ACCELERATION
                 motorPropList.append(motorProp)
         if len(motorPropList)==0:
             return "{'return':-1}"