motor

borealis.motor

Created on Mon Mar 6 10:50:29 2023.

@author: René Bes

Motor(alias, motor_id, motor_offset, controller, positive_direction=True, soft_limit_low=-inf, soft_limit_high=inf)

Bases: ControllerComponent

Motor generic class.

Source code in borealis/motor.py

def __init__(self, alias: str, motor_id: str, motor_offset: float, controller: Controller,
             positive_direction: bool = True, soft_limit_low: float = -inf, soft_limit_high: float = inf) -> None:
    self._controller = controller
    self.motor_name = alias
    super().__init__(session_orchestrator)
    self.motor_id = motor_id
    self.offset = motor_offset
    self._direction_coeff = -1 if positive_direction is False else 1
    self._limit_low = soft_limit_low
    self._limit_high = soft_limit_high
    self._dial_position = self._controller.get_axis_position(self.motor_id)
    self._user_position = self.dial_position + self.offset
    self._is_ready = self._controller.is_axis_ready(self.motor_id)
    LOGGER.info("Motor %s created.", self.motor_name)

amove(user_position)

Move the motor to a new position (user) in absolute scale.

Parameters:

Name	Type	Description	Default
user_position	float	New position (user) to move the motor to.	required

Returns:

Type	Description
None.

Source code in borealis/motor.py

def amove(self, user_position: float):
    """
    Move the motor to a new position (user) in absolute scale.

    Parameters
    ----------
    user_position : float
        New position (user) to move the motor to.

    Returns
    -------
    None.

    """
    self._check_is_ready()
    self.check_soft_limits(user_position)

    dial = (user_position - self.offset) / self._direction_coeff
    self._controller.move_axis(self.motor_id, dial)
    self._controller.wait_motion_end(self.motor_id, dial)
    self.log(logging.DEBUG, "moved to %.2f.", self.user_position)

check_soft_limits(target_user)

Check if dial value is within the limits (inclusive).

Parameters:

Name	Type	Description	Default
target_user	float	Target position in user unit.	required

Raises:

Type	Description
SoftLimitError when dial is outside the allowed range.

Source code in borealis/motor.py

def check_soft_limits(self, target_user: float) -> None:
    """
    Check if dial value is within the limits (inclusive).

    Parameters
    ----------
    target_user : float
        Target position in user unit.

    Raises
    ------
    SoftLimitError when dial is outside the allowed range.
    """
    target_dial = (target_user - self.offset) / self._direction_coeff
    try:
        assert self._limit_low <= target_dial <= self._limit_high
    except AssertionError:
        self.log(logging.ERROR, 'Soft Limit Error: the dial position %.2f is outside the available soft limit range [%.2f : %.2f]', target_dial, self._limit_low, self._limit_high)
        raise SoftLimitError(target_dial, self.motor_name, self._limit_low, self._limit_high)

log(level, msg, *args, **kwargs)

Log a message with prepending the device's alias in front of the message.

Source code in borealis/motor.py

def log(self, level, msg, *args, **kwargs):
    """Log a message with prepending the device's alias in front of the message."""
    kwargs['stacklevel'] = 2
    LOGGER.log(level, f'{self.motor_name}: {msg}', *args, **kwargs)

rmove(rel_position)

Move the motor by a relative position.

Parameters:

Name	Type	Description	Default
rel_position	float	Relative value to move the motor by.	required

Returns:

Type	Description
None.

Source code in borealis/motor.py

def rmove(self, rel_position: float):
    """
    Move the motor by a relative position.

    Parameters
    ----------
    rel_position : float
        Relative value to move the motor by.

    Returns
    -------
    None.

    """
    self._check_is_ready()
    self.check_soft_limits(self.user_position + rel_position)

    dial = self.dial_position + rel_position * self._direction_coeff
    self._controller.move_axis(self.motor_id, dial)
    self._controller.wait_motion_end(self.motor_id, dial)
    self.log(logging.DEBUG, "moved to %.2f.", self.user_position)

scan(start, stop, step, acq_time=0.0)

Perform a scan, if acq_time > 0 will also do an acquisition on all sensors.

Parameters:

Name	Type	Description	Default
start	float	Start of interval. The interval includes this value.	required
stop	float	End of interval. The interval does not include this value.	required
step	float	Spacing between values. For any output out, this is the distance between two adjacent values, out[i+1] - out[i].	required
acq_time	float		0.0

Source code in borealis/motor.py

def scan(self, start: float, stop: float, step: float, acq_time: float = 0.):
    """
    Perform a scan, if acq_time > 0 will also do an acquisition on all sensors.

    Parameters
    ----------
    start : float
        Start of interval. The interval includes this value.
    stop : float
        End of interval. The interval does not include this value.
    step : float
        Spacing between values. For any output `out`, this is the distance
        between two adjacent values, ``out[i+1] - out[i]``.
    acq_time : float

    """
    self._check_is_ready()

    scan_points = np.arange(start, stop, step, dtype=np.float32)
    self.send(message='Scan', scan_points=scan_points, acq_time=acq_time)

set_current_as_zero()

Set motor current position as 0.

Source code in borealis/motor.py

def set_current_as_zero(self):
    """Set motor current position as 0."""
    current_position = self.dial_position
    self._controller.set_axis_to_zero(self.motor_id)
    self.log(logging.WARNING, "Dial position reset to 0. Initial dial value was %.2f.",
             current_position)

where()

Print motor dial / user positions from controller.

Returns:

Type	Description
str

Source code in borealis/motor.py

def where(self):
    """
    Print motor dial / user positions from controller.

    Returns
    -------
    str

    """
    print(f'{self.motor_name:20} at : {self.user_position:6.2f} (user)')