Skip to content

Kinesis #161

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
cassie-song wants to merge 18 commits into
base: dev
Choose a base branch
from
Open

Kinesis #161

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
18 commits
Select commit Hold shift + click to select a range
b371ae6
basic structure of kinesis drivers/stages
ibwharri Jul 26, 2021
82a7d62
Defining basic function for Kinesis .NET
cassie-song Jul 27, 2021
6cd4363
Added step function
cassie-song Jul 27, 2021
3aded02
Tested on setup, added move continuously function
cassie-song Jul 27, 2021
c7f79bb
Basic structure of BSC203 stage
ibwharri Jul 29, 2021
3eab2f5
Updated BCS203 Stage module
cassie-song Aug 8, 2021
f4475d3
Tested stage module on setup
cassie-song Aug 10, 2021
293ec36
minor changes to be able to load bsc203; prefs still not loading
ibwharri Aug 10, 2021
e4fa32a
Structure of changes required to fix bugs in CC
ibwharri Aug 12, 2021
a46b479
Updated functions to integrate BSC203 to CC
cassie-song Aug 17, 2021
ac28fc8
Tested on setup, still difficulties loading prefs
cassie-song Aug 17, 2021
90d5d02
Change to the set function
cassie-song Aug 17, 2021
9e4521d
Fixed bugs in KinesisBSC203
cassie-song Sep 13, 2021
258a16b
Added set_controller method, fixed some typos, disconnect during delte
cassie-song Sep 14, 2021
d9a8c7d
Added generic set_motor function, delete motor when empty, some comments
cassie-song Sep 16, 2021
238666f
simplify moveto/updatestatus w.r.t. permuting channels; still buggy i…
cassie-song Sep 16, 2021
da06e01
Made motor channels readonly pending fix of incorrect motors moving w…
cassie-song Sep 20, 2021
a5ff082
changed the factor to pref, added lines to rethrow error, shortened s…
cassie-song Sep 21, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
344 changes: 344 additions & 0 deletions Modules/+Drivers/+Kinesis/KinesisBSC203.m
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,344 @@
classdef KinesisBSC203 < Drivers.Kinesis.Kinesis_invisible & Modules.Driver
% Driver for kinesis stages. Currently only works with motor_channels = [1 2 3] (i.e. x y z motors in ascending order). Situations other than this will result in wrong motors moving, to be fixed.
properties
name
motor_channels
end
properties(Constant, Hidden)
GENERICMOTORDLL='Thorlabs.MotionControl.GenericMotorCLI.dll';
GENERICMOTORCLASSNAME='Thorlabs.MotionControl.GenericMotorCLI.GenericMotorCLI';
STEPPERMOTORDLL='Thorlabs.MotionControl.Benchtop.StepperMotorCLI.dll';
STEPPERMOTORCLASSNAME='Thorlabs.MotionControl.Benchtop.StepperMotorCLI.BenchtopStepperMotor';
end

properties(SetAccess = private, SetObservable, AbortSet)
isconnected = false; % Flag set if device connected
serialnumbers; % Device serial numbers
controllername; % Controller Name
controllerdescription % Controller Description
stagename; % Stage Name
acceleration; % Acceleration
maxvelocity; % Maximum velocity limit
minvelocity; % Minimum velocity limit
positions = [NaN, NaN, NaN]; % Motor position (1 * 3 array)

Homed;
isMoving = false;

Travel;
factor;
end

properties(Hidden)
deviceNET; % Device object within .NET
channelsNET; % Channel object within .NET (1 * 3 cell)
motorSettingsNET; % motorSettings within .NET (1 * 3 cell)
currentDeviceSettingsNET; % currentDeviceSetings within .NET (1 * 3 cell)
deviceInfoNET; % deviceInfo within .NET (1 * 3 cell)
end

methods(Access=private)
% Constructor
function obj = KinesisBSC203(serialNo, travel, name, motor_channels, factor) % Instantiate the KinesisBSC203 motor object
Drivers.Kinesis.KinesisBSC203.loaddlls; % Load DLLs if not already loaded
obj.motor_channels = motor_channels;
obj.factor = factor;
obj.connect(serialNo); % Connect device
obj.Travel = travel;
obj.name = name;
end
end

methods(Static)
% Use this to create/retrieve instance associated with serialNo
function obj = instance(serialNo, travel, name, motor_channels, factor)
mlock;
if nargin < 2
name = serialNo;
end
persistent Objects
if isempty(Objects)
Objects = Drivers.Kinesis.KinesisBSC203.empty(1,0); % Create an empty class
end
for i = 1:length(Objects)
if isvalid(Objects(i)) && isequal(serialNo,Objects(i).singleton_id) % Find instance with the same singleton ID
obj = Objects(i);
return
end
end
obj = Drivers.Kinesis.KinesisBSC203(serialNo, travel, name, motor_channels, factor); % Create an instance
obj.singleton_id = serialNo; % Define singleton ID
Objects(end+1) = obj; % Add the instance to the object list
end
end

methods
% Connect to the device with a specified serial number and initialize the device
function connect(obj, serialNo) % serialNo := str
obj.GetDevices; % Call this to build device list if not already done
if ~obj.isconnected() % Connect and initialize device if not connected
obj.deviceNET = Thorlabs.MotionControl.Benchtop.StepperMotorCLI.BenchtopStepperMotor.CreateBenchtopStepperMotor(serialNo); % Create an instance of .NET BenchtopStepperMotor
obj.deviceNET.Connect(serialNo); % Connect to device via .NET interface
for i = obj.motor_channels
if ~isnan(i)
obj.channelsNET{i} = obj.deviceNET.GetChannel(i); % Get channel objects of the device
obj.channelsNET{i}.ClearDeviceExceptions(); % Clear device exceptions via .NET interface
else
disp('Motor channel is empty')
end
end

obj.initialize(serialNo) % Initialize the device
else % Device already connected
error('Device is already connected')
end
obj.updatestatus % Update status variables from device
end

function initialize(obj, serialNo) % Initialize all three channels of the device, serialNo := str
for i = obj.motor_channels
if ~isnan(i)
try
if ~obj.channelsNET{i}.IsSettingsInitialized()
obj.channelsNET{i}.WaitForSettingsInitialized(obj.TIMEOUTSETTINGS); % Initialize the ith channel
else
disp('Device Already Initialized.')
end
if ~obj.channelsNET{i}.IsSettingsInitialized() % Device not successfully initialized
error('Unable to initialize device')
end
obj.channelsNET{i}.StartPolling(obj.TPOLLING); % Start polling device via .NET interface
obj.channelsNET{i}.EnableDevice(); % Enable device via .NET interface

% Initialize motor configuration
deviceID = obj.channelsNET{i}.DeviceID;
settingsLoadOption = Drivers.Kinesis.Kinesis_invisible.GetSettingsLoadOption(serialNo, deviceID);
obj.motorSettingsNET{i} = obj.channelsNET{i}.GetMotorConfiguration(serialNo, settingsLoadOption);

% Initialize current motor settings
obj.currentDeviceSettingsNET{i}=obj.channelsNET{i}.MotorDeviceSettings;
obj.deviceInfoNET{i} = obj.channelsNET{i}.GetDeviceInfo(); % Get deviceInfo via .NET interface
catch err
disp(['Unable to initialize channel ', num2str(i)]);
rethrow err
end
end
end

end

function updatestatus(obj)
obj.isconnected = obj.deviceNET.IsConnected(); % connection status
homed = true(1, 3);
moving = false(1, 3);
for i = 1:3

if ~isnan(obj.motor_channels(i))
obj.serialnumbers{obj.motor_channels(i)}=char(obj.channelsNET{obj.motor_channels(i)}.DeviceID); % update serial number
obj.controllername{obj.motor_channels(i)}=char(obj.deviceInfoNET{obj.motor_channels(i)}.Name); % update controleller name
obj.controllerdescription{obj.motor_channels(i)}=char(obj.deviceInfoNET{obj.motor_channels(i)}.Description); % update controller description
obj.stagename{obj.motor_channels(i)}=char(obj.motorSettingsNET{obj.motor_channels(i)}.DeviceSettingsName); % update stagename
velocityparams{obj.motor_channels(i)}=obj.channelsNET{obj.motor_channels(i)}.GetVelocityParams(); % update velocity parameter
obj.acceleration{obj.motor_channels(i)}=System.Decimal.ToDouble(velocityparams{obj.motor_channels(i)}.Acceleration); % update acceleration parameter
obj.maxvelocity{obj.motor_channels(i)}=System.Decimal.ToDouble(velocityparams{obj.motor_channels(i)}.MaxVelocity); % update max velocit parameter
obj.minvelocity{obj.motor_channels(i)}=System.Decimal.ToDouble(velocityparams{obj.motor_channels(i)}.MinVelocity); % update Min velocity parameter
obj.positions(i) = System.Decimal.ToDouble(obj.channelsNET{obj.motor_channels(i)}.Position) * obj.factor; % motor positions
homed(i) = ~obj.channelsNET{obj.motor_channels(i)}.NeedsHoming;
if obj.channelsNET{obj.motor_channels(i)}.State == Thorlabs.MotionControl.GenericMotorCLI.MotorStates.Idle
moving(i) = false;
else
moving(i) = true;
end
end
end
obj.Homed = all(homed);
obj.isMoving = any(moving);
end

function disconnect(obj)
obj.isconnected = obj.deviceNET.IsConnected(); % Read connection status
if obj.isconnected % Disconnect device if connected
for i = 1:3
if ~isnan(obj.motor_channels(i))
try
obj.channelsNET{obj.motor_channels(i)}.StopPolling(); % Stop polling device via .NET interface
obj.channelsNET{obj.motor_channels(i)}.DisableDevice(); % Disable device via .NET interface
catch
error(['Unable to disconnect device',obj.serialnumbers{obj.motor_channels(i)}]);
end

end
end
try
obj.deviceNET.Disconnect(true)
catch
error(['Unable to disconnect device',obj.serialnumbers{obj.motor_channels(i)}]);
end
obj.isconnected = obj.deviceNET.IsConnected();
else % Cannot disconnect because device not connected
error('Device not connected.')
end
end

function home(obj)
for i = 1:3
if ~isnan(obj.motor_channels(i))
workDone=obj.channelsNET{obj.motor_channels(i)}.InitializeWaitHandler(); % Initialise Waithandler for timeout
obj.channelsNET{obj.motor_channels(i)}.Home(workDone); % Home device via .NET interface
obj.channelsNET{obj.motor_channels(i)}.Wait(obj.TIMEOUTMOVE); % Wait for move to finish
end
end
obj.updatestatus; % Update status variables from device
end

function tf = checkMove(obj, target_pos)
% Check to make sure target_pos is ok to execute
% Error if it is outside limits
% Error if the channel needs to be homed
% Otherwise returns true
tf = true;
for i = 1:3
if ~isnan(obj.motor_channels(i))
assert(~obj.channelsNET{obj.motor_channels(i)}.NeedsHoming,'Motor %f is not homed!', i)
assert(target_pos(i) <= max(obj.Travel) && target_pos(i) >= min(obj.Travel),...
'Attempted to move motor %f to %f, but it is limited to %f, %f', obj.motor_channels(i), target_pos, min(obj.Travel), max(obj.Travel))
end
end
end

function moveto(obj, target_pos)
% Move to target position, target_pos := 1 * 3 array of double
assert(obj.checkMove(target_pos),'Target position is out of range')
target_pos_calib = target_pos / obj.factor;
obj.isMoving = true;
for i = 1:3
if ~isnan(obj.motor_channels(i))
try
workDone=obj.channelsNET{obj.motor_channels(i)}.InitializeWaitHandler(); % Initialise Waithandler for timeout
obj.channelsNET{obj.motor_channels(i)}.MoveTo(target_pos_calib(i), workDone); % Move device to position via .NET interface
obj.channelsNET{obj.motor_channels(i)}.Wait(obj.TIMEOUTMOVE); % Wait for move to finish
catch
error(['Unable to Move channel ',obj.serialnumbers{obj.motor_channels(i)},' to ',num2str(target_pos(i))]);
end
end
end
obj.updatestatus
end

function step(obj, channelNo, distance)
% Method to move the motor by a jog
% channelNo := int, distance : double,
if distance < 0 % Set jog direction to backwards
motordirection=Thorlabs.MotionControl.GenericMotorCLI.MotorDirection.Backward;
elseif distance > 0 % Set jog direction to forwards
motordirection=Thorlabs.MotionControl.GenericMotorCLI.MotorDirection.Forward;
else
error('Step size cannot be zero')
end

% Calculate the position after the step
step_pos = [0 0 0];
distance_calib = distance / obj.factor;
obj.channelsNET{channelNo}.SetJogStepSize(abs(distance_calib)) % Set the step size for jog
step_pos(channelNo) = obj.channelsNET{channelNo}.GetJogStepSize();
target_pos = obj.positions + step_pos;

% Check whether the position after the step exceeds the travel
tf = obj.checkMove(target_pos);

if tf
try
workDone = obj.channelsNET{channelNo}.InitializeWaitHandler();
obj.channelsNET{channelNo}.MoveJog(motordirection, workDone); % Execute jog
obj.channelsNET{channelNo}.Wait(obj.TIMEOUTMOVE);
catch
error('Unable to execute jog')
end
else
error('Target position is out of range')
end
obj.updatestatus
end

function movecont(h, channelNo, varargin) % Set motor to move continuously
if (nargin>2) && (varargin{1}) % if parameter given (e.g. 1) move backwards
motordirection=Thorlabs.MotionControl.GenericMotorCLI.MotorDirection.Backward;
else % if no parametr given move forwards
motordirection=Thorlabs.MotionControl.GenericMotorCLI.MotorDirection.Forward;
end
h.channelsNET{channelNo}.MoveContinuous(motordirection); % Set motor into continous move via .NET interface
obj.updatestatus; % Update status variables from device
end

function stop(h, immediate) % Stop the motor moving (needed if set motor to continous)
for i = 1:3
if ~isnan(obj.motor_channels(i))
if nargin > 1 && immediate
h.channelsNET{obj.motor_channels(i)}.StopImmediate();
else
h.channelsNET{obj.motor_channels(i)}.Stop(h.TIMEOUTMOVE); % Stop motor movement via.NET interface
end
end
end
obj.updatestatus % Update status variables from device
end

function pos = get.positions(obj)
pos = [NaN NaN NaN];
for i = 1:3
if ~isnan(obj.motor_channels(i))
pos(i) = System.Decimal.ToDouble(obj.channelsNET{obj.motor_channels(i)}.Position) * obj.factor;
end
end
end

function enable(obj)
for i = 1:3
if ~isnan(obj.motor_channels(i))
obj.channelsNET{obj.motor_channels(i)}.EnableDevice(); % Enable device via .NET interface
end
end
obj.updatestatus
end

function disable(obj)
for i = 1:3
if ~isnan(obj.motor_channels(i))
obj.channelsNET{obj.motor_channels(i)}.DisableDevice(); % Enable device via .NET interface
end
end
obj.updatestatus
end

end

methods (Static)
function loaddlls() % Load DLLs (Load all relevant dlls in case the GetDevices function was not called)
if ~exist(Drivers.Kinesis.KinesisBSC203.DEVICEMANAGERCLASSNAME,'class')
try % Load DeviceManagerCLI dll if not already loaded
NET.addAssembly([Drivers.Kinesis.KinesisBSC203.MOTORPATHDEFAULT,Drivers.Kinesis.KinesisBSC203.DEVICEMANAGERDLL]);
catch
error('Unable to load .NET assemblies')
end
end
if ~exist(Drivers.Kinesis.KinesisBSC203.GENERICMOTORCLASSNAME,'class')
try % Load in DLLs if not already loaded
NET.addAssembly([Drivers.Kinesis.KinesisBSC203.MOTORPATHDEFAULT,Drivers.Kinesis.KinesisBSC203.GENERICMOTORDLL]);
NET.addAssembly([Drivers.Kinesis.KinesisBSC203.MOTORPATHDEFAULT,Drivers.Kinesis.KinesisBSC203.STEPPERMOTORDLL]);
catch % DLLs did not load
error('Unable to load .NET assemblies')
end
end
end

function motorSerialNumbers = getAvailMotors()
motorSerialNumbers = {};
serialNumbers = Drivers.Kinesis.Kinesis_invisible.GetDevices;
for i = 1 : length(serialNumbers)
if strcmp(serialNumbers{i}(1:2), '70')
motorSerialNumbers{end + 1} = serialNumbers{i};
end
end
end
end
end
Loading