From 850cf9e034e8f740ffdb34287da9f7b6d7073aba Mon Sep 17 00:00:00 2001
From: jupfi <github@jupfi.me>
Date: Sun, 10 Dec 2023 18:15:35 +0100
Subject: [PATCH] Backlash correction for tuner.

---
 src/nqrduck_autotm/controller.py | 30 ++++++++++++++++++++++++++++++
 src/nqrduck_autotm/model.py      | 10 ++++++++++
 src/nqrduck_autotm/view.py       | 13 +++++++++++++
 3 files changed, 53 insertions(+)

diff --git a/src/nqrduck_autotm/controller.py b/src/nqrduck_autotm/controller.py
index 4b3c6c6..14e80a0 100644
--- a/src/nqrduck_autotm/controller.py
+++ b/src/nqrduck_autotm/controller.py
@@ -619,6 +619,7 @@ class AutoTMController(ModuleController):
         """
         logger.debug("Homing")
         self.send_command("h")
+        self.module.model.tuning_stepper.last_direction = 1
 
     @pyqtSlot(str)
     def on_stepper_changed(self, stepper: str) -> None:
@@ -654,6 +655,18 @@ class AutoTMController(ModuleController):
 
     def send_stepper_command(self, steps: int, stepper : Stepper) -> None:
         """Send a command to the stepper motor based on the number of steps."""
+        # Here we handle backlash of the tuner
+        # Determine the direction of the current steps
+        current_direction = np.sign(steps)  # This will be -1,or 1
+        if stepper.TYPE == "Tuning":
+            logger.debug("Stepper last direction: %s", stepper.last_direction)
+            logger.debug("Current direction: %s", current_direction)
+            if stepper.last_direction != current_direction:
+                steps = (abs(steps) + stepper.BACKLASH_STEPS) * current_direction
+
+            stepper.last_direction = current_direction
+            logger.debug("Stepper last direction: %s", stepper.last_direction)
+
         motor_identifier = stepper.TYPE.lower()[0]
         command = f"m{motor_identifier}{steps}"
         confirmation = self.send_command(command)
@@ -738,5 +751,22 @@ class AutoTMController(ModuleController):
         logger.debug("Deleting position: %s", position)
         self.module.model.delete_saved_position(position)
 
+    def generate_mech_lut(self, start_frequency: str, stop_frequency: str, frequency_step: str) -> None:
+        """Generate a lookup table for the specified frequency range and voltage resolution.
+        
+        Args:
+            start_frequency (str): The start frequency in Hz.
+            stop_frequency (str): The stop frequency in Hz.
+            frequency_step (str): The frequency step in Hz.
+        """
+        logger.debug("Generating mech LUT")
+
+        # We create the lookup table
+        LUT = MechanicalLookupTable(
+            start_frequency, stop_frequency, frequency_step
+        )
+
+        
+
 
 
diff --git a/src/nqrduck_autotm/model.py b/src/nqrduck_autotm/model.py
index fa590d5..10bc75a 100644
--- a/src/nqrduck_autotm/model.py
+++ b/src/nqrduck_autotm/model.py
@@ -240,7 +240,13 @@ class SavedPosition():
 class TuningStepper(Stepper):
     TYPE = "Tuning"
     MAX_STEPS = 1e6
+    BACKLASH_STEPS = 45
 
+    def __init__(self) -> None:
+        super().__init__()
+        # Backlash stepper 
+        self.last_direction = None
+    
 class MatchingStepper(Stepper):
     TYPE = "Matching"
     MAX_STEPS = 1e6
@@ -285,6 +291,7 @@ class MechanicalLookupTable(LookupTable):
     TYPE = "Mechanical"
     pass
 class AutoTMModel(ModuleModel):
+
     available_devices_changed = pyqtSignal(list)
     serial_changed = pyqtSignal(QSerialPort)
     data_points_changed = pyqtSignal(list)
@@ -309,6 +316,9 @@ class AutoTMModel(ModuleModel):
 
         self.saved_positions = []
 
+        self.el_lut = None
+        self.mech_lut = None
+
     @property
     def available_devices(self):
         return self._available_devices
diff --git a/src/nqrduck_autotm/view.py b/src/nqrduck_autotm/view.py
index bcdcf3f..2d5ad33 100644
--- a/src/nqrduck_autotm/view.py
+++ b/src/nqrduck_autotm/view.py
@@ -73,6 +73,15 @@ class AutoTMView(ModuleView):
             )
         )
 
+        # On clicking of the generateLUTButton call the generate_lut method
+        self._ui_form.generateLUTButton.clicked.connect(
+            lambda: self.module.controller.generate_mech_lut(
+                self._ui_form.startfrequencyBox.text(),
+                self._ui_form.stopfrequencyBox.text(),
+                self._ui_form.frequencystepBox.text(),
+            )
+        )
+
         # On clicking of the viewLUTButton call the view_lut method
         self._ui_form.viewelLUTButton.clicked.connect(self.view_el_lut)
 
@@ -351,6 +360,10 @@ class AutoTMView(ModuleView):
     def view_el_lut(self) -> None:
         """Creates a new Dialog that shows the currently active electrical LUT."""
         logger.debug("View LUT")
+        if self.module.model.el_lut is None:
+            logger.debug("No LUT available")
+            self.add_error_text("No LUT available")
+            return
         self.lut_window = self.LutWindow(self.module)
         self.lut_window.show()