Getting started¶

To use the motor controller from Python, you will first need to install this module. It can be installed using pip in the usual way, which will also require the packages that it depends on (future and pyserial). The simplest way to use the module is this:

from openflexure_stage import OpenFlexureStage
with OpenFlexureStage() as stage:
    stage.move_rel([100,0,0])
    print(stage.position)
    stage.move_rel([-100,0,0])

By default, it will use the first available serial port - if you are using a Raspberry Pi and you don’t have any other USB serial devices connected, this will usually work. If not, you need to specify the serial port in the constructor:

OpenFlexureStage("/dev/ttyUSB0")

The name of the serial port will depend on your operating system - Linux typically assigns names that look like /dev/ttyUSB0 while Windows will often give it a name like COM4.

Make sure you close the stage after you’re finished with it - the best way to do this is using a with block, but you can also call close() manually if required.

Moving the stage¶

The most basic thing you are likely to want to do with the stage. This is done with move_rel() most of the time, though it’s also possible to make absolute moves. The Sangaboard keeps track of position in firmware, and will return its position if you query position.

Adjusting settings¶

There are a number of properties of your OpenFlexureStage object that can be used to change the way it works:

backlash: software backlash compensation
ramp_time: acceleration control
step_time: define the maximum speed

Using optional features¶

If you compile support for it, you can add a light sensor to the stage, which is accessed as light_sensor. This returns a LightSensor which allows you to control the gain (if possible) and read the light intensity.

If you compile support for it, you can add mechanical endstops, which are accessed as endstops. This returns Endstops which allows you to home the axes, check endstop status, and control soft endstop position (if enabled).