dummy

plantimager.dummy

The dummy module offers CNC, Gimbal & Camera implementation

CNC

CNC(homing=False, x_lims=[0.0, 100.0], y_lims=[0.0, 100.0], z_lims=[0.0, 30.0])

Bases: AbstractCNC

A dummy CNC for testing purposes.

TODO: enable workspace origin offset, motor seed configuration,...

Attributes:

Name	Type	Description
position	list	The current pan and tilt positions of the gimbal.
x_lims	((int, int), optional)	The allowed range of X-axis positions.
y_lims	((int, int), optional)	The allowed range of Y-axis positions.
z_lims	((int, int), optional)	The allowed range of Z-axis positions.

Examples:

>>> from plantimager.dummy import CNC
>>> cnc = CNC()
>>> cnc.get_position()
[80.5, 80.79, 15.46]
>>> cnc.home()
>>> cnc.get_position()
[0.0, 0.0, 0.0]
>>> cnc.moveto(20, 20, 5)
>>> cnc.get_position()
[20.0, 20.0, 5.0]

Parameters:

Name	Type	Description	Default
homing	bool	If True, axes homing will be performed upon CNC object instantiation.	False
x_lims	(float, float)	The allowed range of X-axis positions. Defaults to [0., 100.]	[0.0, 100.0]
y_lims	(float, float)	The allowed range of Y-axis positions. Defaults to [0., 100.]	[0.0, 100.0]
z_lims	(float, float)	The allowed range of Z-axis positions. Defaults to [0., 30.]	[0.0, 30.0]

Notes

If homing is false, a random initial position will be generated.

Source code in plantimager/dummy.py

def __init__(self, homing=False, x_lims=[0., 100.], y_lims=[0., 100.], z_lims=[0., 30.]):
    """
    Parameters
    ----------
    homing : bool, optional
        If ``True``, axes homing will be performed upon CNC object instantiation.
    x_lims : (float, float), optional
        The allowed range of X-axis positions. Defaults to ``[0., 100.]``
    y_lims : (float, float), optional
        The allowed range of Y-axis positions. Defaults to ``[0., 100.]``
    z_lims : (float, float), optional
        The allowed range of Z-axis positions. Defaults to ``[0., 30.]``

    Notes
    -----
    If `homing` is false, a random initial position will be generated.
    """
    super().__init__()
    self.x_lims = x_lims
    self.y_lims = y_lims
    self.z_lims = z_lims
    self.position = self._random_position()
    self.start(homing)

get_position

get_position()

Returns the XYZ position of the CNC.

Source code in plantimager/dummy.py

def get_position(self) -> list:
    """Returns the XYZ position of the CNC."""
    return self.position

home

home()

Performs axes homing procedure, setting axes position to their origin.

Source code in plantimager/dummy.py

def home(self):
    """Performs axes homing procedure, setting axes position to their origin."""
    self.position = [0., 0., 0.]

moveto

moveto(x, y, z)

Move axes to target XYZ position.

Parameters:

Name	Type	Description	Default
x	float	The target XYZ position, in millimeters.	required
y	float	The target XYZ position, in millimeters.	required
z	float	The target XYZ position, in millimeters.	required

Source code in plantimager/dummy.py

def moveto(self, x: float, y: float, z: float):
    """Move axes to target XYZ position.

    Parameters
    ----------
    x, y, z : float
        The target XYZ position, in millimeters.
    """
    self.position[0] = float(x)
    self.position[1] = float(y)
    self.position[2] = float(z)
    self.wait()

moveto_async

moveto_async(x, y, z)

Move axes to target XYZ position.

Parameters:

Name	Type	Description	Default
x	float	The target XYZ position, in millimeters.	required
y	float	The target XYZ position, in millimeters.	required
z	float	The target XYZ position, in millimeters.	required

Source code in plantimager/dummy.py

def moveto_async(self, x: float, y: float, z: float):
    """Move axes to target XYZ position.

    Parameters
    ----------
    x, y, z : float
        The target XYZ position, in millimeters.
    """
    self.position[0] = float(x)
    self.position[1] = float(y)
    self.position[2] = float(z)

start

start(homing=False)

Start the CNC.

Parameters:

Name	Type	Description	Default
homing	bool	If True, performs homing procedure.	False

Source code in plantimager/dummy.py

def start(self, homing=False):
    """Start the CNC.

    Parameters
    ----------
    homing : bool
        If ``True``, performs homing procedure.
    """
    if homing:
        self.home()
    else:
        pass

Gimbal

Gimbal(homing=False, pan_lims=[0.0, 360.0], tilt_lims=[-90.0, 90.0])

Bases: AbstractGimbal

A dummy Gimbal for testing purposes.

Attributes:

Name	Type	Description
position	list	The current pan and tilt positions of the gimbal.
pan_lims	((float, float), optional)	The allowed range of pan-axis positions. Defaults to [0., 360.]
tilt_lims	((float, float), optional)	The allowed range of tilt-axis positions. Defaults to [-90., 90.]

Examples:

>>> from plantimager.dummy import Gimbal
>>> gimbal = Gimbal()
>>> gimbal.get_position()
[289.8, 55.43]
>>> gimbal.moveto(90, 10)
>>> gimbal.get_position()
[90.0, 10.0]
>>> gimbal.home()
>>> gimbal.get_position()
[0.0, 0.0]

Parameters:

Name	Type	Description	Default
homing	bool	If True, axes homing will be performed upon CNC object instantiation.	False
pan_lims	(float, float)	The allowed range of pan-axis positions. Defaults to [0., 360.]	[0.0, 360.0]
tilt_lims	(float, float)	The allowed range of tilt-axis positions. Defaults to [-90., 90.]	[-90.0, 90.0]

Notes

If homing is false, a random initial position will be generated.

Source code in plantimager/dummy.py

def __init__(self, homing=False, pan_lims=[0., 360.], tilt_lims=[-90., 90.]):
    """
    Parameters
    ----------
    homing : bool, optional
        If ``True``, axes homing will be performed upon CNC object instantiation.
    pan_lims : (float, float), optional
        The allowed range of pan-axis positions. Defaults to ``[0., 360.]``
    tilt_lims : (float, float), optional
        The allowed range of tilt-axis positions. Defaults to ``[-90., 90.]``

    Notes
    -----
    If `homing` is false, a random initial position will be generated.
    """
    super().__init__()
    self.pan_lims = pan_lims
    self.tilt_lims = tilt_lims
    self.position = self._random_position()
    self.start(homing)

get_position

get_position()

Returns the pan & tilt position of the Gimbal.

Source code in plantimager/dummy.py

def get_position(self) -> list:
    """Returns the pan & tilt position of the Gimbal."""
    return self.position

home

home()

Performs axes homing procedure, setting axes position to their origin.

Source code in plantimager/dummy.py

def home(self):
    """Performs axes homing procedure, setting axes position to their origin."""
    self.position = [0., 0.]
    return

moveto

moveto(pan, tilt)

Move the pan & tilt axes to given position.

Source code in plantimager/dummy.py

def moveto(self, pan: deg, tilt: deg):
    """Move the pan & tilt axes to given position."""
    self.position[0] = float(pan)
    self.position[1] = float(tilt)
    self.wait()

moveto_async

moveto_async(pan, tilt)

Move the pan & tilt axes to given position.

Source code in plantimager/dummy.py

def moveto_async(self, pan: deg, tilt: deg):
    """Move the pan & tilt axes to given position."""
    self.position[0] = float(pan)
    self.position[1] = float(tilt)
    return

start

start(homing=False)

Start the Gimbal.

Parameters:

Name	Type	Description	Default
homing	bool	If True, performs homing procedure.	False

Source code in plantimager/dummy.py

def start(self, homing=False):
    """Start the Gimbal.

    Parameters
    ----------
    homing : bool
        If ``True``, performs homing procedure.
    """
    if homing:
        self.home()
    else:
        pass
    return

stop

stop()

Stop the Gimbal.

Source code in plantimager/dummy.py

def stop(self):
    """Stop the Gimbal."""
    pass