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# -*- coding: utf-8 -*-
# This file is part of the Horus Project
__author__ = 'Jes煤s Arroyo Torrens <jesus.arroyo@bq.com>'
__copyright__ = 'Copyright (C) 2014-2016 Mundo Reader S.L.'
__license__ = 'GNU General Public License v2 http://www.gnu.org/licenses/gpl2.html'
import time
from horus.engine.calibration.calibration import Calibration
class MovingCalibration(Calibration):
"""Moving calibration:
- Move motor sequence
- Call _capture at each position
- Call _calibrate at the end
"""
def __init__(self):
Calibration.__init__(self)
self.step = 3
def _initialize(self):
raise NotImplementedError
def _capture(self, angle):
raise NotImplementedError
def _calibrate(self):
raise NotImplementedError
def _start(self):
if self.driver.is_connected:
angle = 0.0
self._initialize()
# Setup scanner
self.driver.board.lasers_off()
self.driver.board.motor_enable()
self.driver.board.motor_reset_origin()
self.driver.board.motor_speed(200)
self.driver.board.motor_acceleration(200)
# Move to starting position
self.driver.board.motor_move(-90)
if self._progress_callback is not None:
self._progress_callback(0)
while self._is_calibrating and abs(angle) < 180:
if self._progress_callback is not None:
self._progress_callback(100 * abs(angle) / 180.)
self._capture(angle)
angle += self.step
self.driver.board.motor_move(self.step)
time.sleep(0.5)
# Move to origin
self.driver.board.motor_move(90 - angle)
self.driver.board.lasers_off()
self.driver.board.motor_disable()
# Compute calibration
response = self._calibrate()
if self._after_callback is not None:
self._after_callback(response)
