Backlash correction for tuner.

This commit is contained in:
jupfi 2023-12-10 18:15:35 +01:00
parent 5933046d83
commit 850cf9e034
3 changed files with 53 additions and 0 deletions

View file

@ -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
)

View file

@ -240,6 +240,12 @@ 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"
@ -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

View file

@ -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()