Pr turret - #609
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Port two positioning features from the SingleMotor source project: - OBJECTIVE_TURRET_CALIBRATED_PULSES: per-slot calibrated absolute pulse targets (slot 1..4 -> pulses from homing zero). A calibrated slot is used verbatim; uncalibrated slots fall back to the theoretical (slot-1)*pulses_per_position + OBJECTIVE_TURRET_OFFSET_PULSES. - OBJECTIVE_TURRET_BACKLASH_DEG: gear backlash compensation (0..1 turret degrees). When > 0 every slot change overshoots below the target and approaches it from below, so the final approach direction is always the same and gear backlash cancels out. Both are validated at init (slot range, integer pulses, deviation bound of one slot vs theoretical, degree range) so a bad machine .ini fails fast. Defaults keep behavior identical to before. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
… switch, factory params Re-merge from the SingleMotor source project (2026-07-23..27 changes): - Homing rewritten as software homing (sweep in velocity mode polling the DI level -> backoff -> fine-search -> SET_ZERO at the trigger edge), replacing the driver's built-in homing modes. Repeatability +/-5 pulses; ends clamped at home with holding torque. Default home timeout raised to 120s. - DI1 is now permanently "origin switch" (3). The old scheme (DI1 temporarily mapped to negative limit + homing method 17) faults FF0E on the current firmware whenever a move passes the sensor; all homing-register calibration is removed. - Factory parameter set ported and auto-calibrated on connect: accel/decel 1000, max speed 200, min speed 16 (written before max — fixes the min/max write-order bug), currents overload 1.3A / idle 0.6A / accel+run+decel 0.95A, microstep forced to 16 (write + save + fail fast asking for a power cycle when it differs). Decel current is marked volatile (firmware drops the write) so it cannot trigger an EEPROM save every connect. Direction register written to RAM after the EEPROM save. - modbus_rtu: add read_input_registers() batch read so the homing sweep gets DI + position + alarm in one frame per poll (the ~50-pulse sensor window must not be crossable between two polls). - _def.py: fix the calibrated-pulses doc example (6640 deviates more than one slot and fails validation) and note that slots must be re-measured after upgrading from driver homing (the zero reference moved). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ne-search accel, max speed 150 Port SingleMotor f366df9..4119c32 (manager-specified values): - Homing: fine step 5->2 (repeatability +/-2), backoff 150->60, sweep 50->60 Step/s with 20ms poll (52ms window crossing >= 2.6 polls), fine travel limit 400->200 - Fine search now temporarily lowers acceleration (0x005F) to 50 to soften the microstep approach to the trigger edge; restored after - Max speed 200->150: the 0.95A current cap loses steps under load at 200 - Idle current 60->21 (displayed 0.69A); drop the decel-current (0x15) calibration and its volatile mechanism — the SDM42 drive has no such parameter (writes silently dropped, reads back 0) SingleMotor's reconnect-polling fix (8ab21dc) is Qt-panel-specific and does not apply to this synchronous controller. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…db6c Some turret motor models are wired with the opposite phase order, so the same commands spin the other way. Add OBJECTIVE_TURRET_DIRECTION_INVERTED (per-machine .ini, default False = behavior unchanged): - Inversion applied only at the register boundary: absolute-move targets, jog signs, homing-sweep direction bit, and position readbacks; slot mapping / calibration / backlash / homing logic stay in logical coordinates untouched - Init direction-register (0x0052) expected value follows the flag (inverted expects 0), still RAM-only after the EEPROM save - microscope.py passes the flag via turret_kwargs; the simulation twin accepts it for constructor parity - 12 new tests incl. a default-off regression guard; theoretical-target assertions pass explicit offset/calibration to stay independent of machine .ini values loaded into _def After toggling on an existing machine, re-home and re-measure the calibrated slots (the physical zero moves with the sweep direction). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ngleMotor 8874934 New objective changers sense the origin switch on the opposite logic level (homing direction flipped, jerky). Add a per-machine software option that inverts the DI1 trigger verdict during software homing / distance search. - _def.py: OBJECTIVE_TURRET_DI_INVERT (default False = old logic) - objective_turret_controller.py: di_invert ctor kwarg (def fallback + bool validation, same pattern as direction_inverted); the verdict flips in _read_status_snapshot so the sweep/backoff/fine state machine, direction logic and calibration stay in the same logical frame - microscope.py: pass di_invert through turret_kwargs - tests: 6 di_invert tests (inside/outside window homing, backoff direction unchanged, def fallback, non-bool raises, sim accepts kwarg); 74 passed in a CI-equivalent env. Note: toggling requires re-homing — the fine-search edge (physical zero) sits on the other side of the sensor window. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…step auto-write Replace the per-slot OBJECTIVE_TURRET_CALIBRATED_PULSES map with uniform slot targets: offset + (slot-1) x PULSES_PER_SLOT. The 2200 pulses/slot spacing is now a named constant, cross-checked at init against the scale derived from the mechanics constants and the microstep readback so the two cannot drift apart. One measured offset per machine is enough; per-slot values are dropped. On a microstep mismatch, init now raises without writing: the register reads back the pending value (vendor-confirmed), so the previous write-then-raise would let the next start pass the check while the drive still runs the old scale until power-cycled. The error message directs to the SingleMotor setup tool instead. All factory register values and the motion/homing logic are unchanged. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Single source of truth: PULSES_PER_SLOT is now computed from the mechanics constants (steps/rev x microsteps x gear ratio / slots) instead of being a hand-copied 2200 held in sync by a runtime cross-check. The duplicate _pulses_per_position instance field, the unreachable init check, and its monkeypatch-only test are gone; a one-line test pins the value at 2200. Also drops two tests fully subsumed by existing ones and inlines the single-caller _target_pulses helper. No behavior change. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Pull request overview
Ports updated objective turret controller behavior, expanding the real controller to use software homing and adding configuration knobs for backlash compensation, motor-direction inversion, and DI (origin switch) polarity inversion; updates the Modbus client and tests accordingly.
Changes:
- Implement software homing (sweep → backoff → fine search) and initialize/calibrate a factory parameter set on connect.
- Add backlash compensation to slot changes, plus optional direction inversion and DI polarity inversion (wired/configurable via
_def.pyand passed throughmicroscope.py). - Extend Modbus RTU client with a batched FC0x04 input-register read API and add substantial test coverage for the new turret behaviors.
Reviewed changes
Copilot reviewed 5 out of 5 changed files in this pull request and generated 1 comment.
Show a summary per file
| File | Description |
|---|---|
| software/control/objective_turret_controller.py | Adds software homing, backlash compensation, direction/DI inversion handling, and init-time parameter calibration. |
| software/control/modbus_rtu.py | Adds read_input_registers() to read a consistent input-register snapshot in one FC0x04 transaction. |
| software/control/microscope.py | Passes new turret configuration kwargs (backlash/direction/DI inversion) from global config into controller construction. |
| software/control/_def.py | Introduces new turret configuration defaults and documents intended behavior/upgrade implications. |
| software/tests/control/test_objective_turret_controller.py | Adds tests for homing flows, init calibration, backlash compensation, direction inversion, and DI inversion. |
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| pre = self.current_position_pulses | ||
| di1, _, _, alarm = self._read_status_snapshot() | ||
| self._check_alarm(alarm) | ||
| if not di1: # already inside the sensor window -> skip straight to backoff |
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[Claude Code] Fixed in commit 2050f6d - reworded to describe the branch that actually runs: off the sensor -> sweep; already in the window skips straight to backoff.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Summary
Ports the turret-controller changes from
pr-singlemotoronto this branch, as 5 commits:3c0400c)OBJECTIVE_TURRET_CALIBRATED_PULSES), fall back to theoretical positions14fc708): software homing (sweep → backoff → fine-search → set zero), DI1 origin switch, factory params auto-calibrated on connectc03564e): fine-step 2, backoff 60, max speed 150, etc.8e10165):OBJECTIVE_TURRET_DIRECTION_INVERTED3dd9060):OBJECTIVE_TURRET_DI_INVERTFiles changed
software/control/_def.py/objective_turret_controller.py/microscope.py/modbus_rtu.py/tests/control/test_objective_turret_controller.pyNotes