dodal.devices.motors#

Classes

SixAxisGonio

Six-axis goniometer with a standard xyz stage and three axes of rotation: kappa, phi and omega.

SixAxisGonioKappaPhi

Six-axis goniometer with a standard xyz stage and two axes of rotation: kappa and phi.

Stage

For these devices, the following co-ordinates are typical but not enforced: - z is horizontal & parallel to the direction of beam travel - y is vertical and antiparallel to the force of gravity - x is the cross product of y🞬z

XThetaStage

Two-axis stage with an x and a theta motor.

XYPhiStage

Three-axis stage with a standard xy stage and one axis of rotation: phi.

XYPitchStage

Three-axis stage with a standard xy stage and one axis of rotation: pitch.

XYRollStage

Three-axis stage with a standard xy stage and one axis of rotation: roll.

XYStage

A standard two-axis stage with an x and a y motor.

XYZOmegaStage

Four-axis stage with a standard xyz stage and one axis of rotation: omega.

XYZPitchYawRollStage

Five-axis stage with a standard xyz stage and three axes of rotation: pitch, yaw, and roll.

XYZPitchYawStage

Five-axis stage with a standard xyz stage and two axes of rotation: pitch and yaw.

XYZPolarAzimuthStage

Five-axis stage with a standard xyz stage and two axis of rotation: polar and azimuth.

XYZPolarAzimuthTiltStage

Six-axis stage with a standard xyz stage and three axis of rotation: polar, azimuth and tilt.

XYZPolarStage

Four-axis stage with a standard xyz stage and one axis of rotation: polar.

XYZStage

A standard three-axis stage with an x, a y, and a z motor.

XYZThetaStage

Four-axis stage with a standard xyz stage and one axis of rotation: theta.

YZStage

Two-axis stage with an x and a z motor.

Functions

create_axis_perp_to_rotation(motor_theta, ...)

Given a signal that controls a motor in a rotation axis and two other signals controlling motors on a pair of orthogonal axes, these axes being in the rotating frame of reference created by the first axis, create a derived signal that is a projection of the two axes in the non-rotating frame of reference.
dodal.devices.motors.create_axis_perp_to_rotation(motor_theta: Motor, motor_i: Motor, motor_j: Motor)[source]#

Given a signal that controls a motor in a rotation axis and two other signals controlling motors on a pair of orthogonal axes, these axes being in the rotating frame of reference created by the first axis, create a derived signal that is a projection of the two axes in the non-rotating frame of reference.

The projection is onto the axis defined by i when the rotation angle is 0 and defined by j when the angle is at 90.

The usual use case for this is translating from sample space to lab space. For example, if you have a sample that is mounted on a goniometer to the right hand side of an OAV view this can provide an axis that will move the sample up/down in that view regardless of the omega orientation of the sample.

Parameters:

  • motor_theta (Motor) – this is the rotation axis of the sample.

  • motor_i (Motor) – this is the axis that, when the sample is at 0 deg rotation, a move here is entirely parallel with the derived axis.

  • motor_j (Motor) – this is the axis that, when the sample is at 90 deg rotation, a move here is entirely parallel with the derived axis.