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sequoiap merged 5 commits into from
Oct 5, 2026
Merged

Driver error handling: real exceptions, no hangs #98

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74d89ad
ppcl55x: raise real errors, and don't hang after one
sequoiap Oct 5, 2026
16ee564
Replace the remaining bare except clauses
sequoiap Oct 5, 2026
e0dc264
Arduino: give up on an analog pin that never reports
sequoiap Oct 5, 2026
2881374
RTO: keep the VISA ResourceManager for the connection's lifetime
sequoiap Oct 5, 2026
5cf5f71
Fix the motion examples' instrument setup
sequoiap Oct 5, 2026
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71 changes: 35 additions & 36 deletions examples/903.motion/kcube_jogging.py
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# Example of how to use the linear stage (Z825B) with software limits locally

# import the Kinesis Library and make sure the path is correct
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")
# Example of how to jog the linear stage (Z825B) locally

# thorlabs_kinesis finds the Kinesis DLLs in C:\Program Files\Thorlabs\Kinesis
# on its own; set THORLABS_DLL_PATHS if they are installed somewhere else.
from pyrolab.drivers.motion.z8xx import Z825B

# Look at the connected KCube for correct serial num
linear = Z825B("27504851", home=True)

# Set and read a few of the parameters pertaining to jogging
print(f"Jog mode: {linear.jog_mode}")
print(f"Stop mode: {linear.stop_mode}")
print(f"Jog step size: {linear.jog_step_size}")
linear.jog_step_size = 1
print(f"Jog step size: {linear.jog_step_size}")
linear.max_pos = 15
print(f"jog velocity: {linear.jog_velocity}")
print(f"jog acceleration: {linear.jog_acceleration}")
print(f"Soft Limit mode: {linear.soft_limits_mode}")

# Jog the position twice and measure position after each step
linear.jog("forward")
print(f"current pos after 1 jog: {linear.get_position()} mm")
linear.jog("forward")
print(f"current pos after 2 jogs: {linear.get_position()} mm")

# change to continuous jog then measure the position after reaching 10 mm
linear.jog_mode = "continuous"
linear.jog_velocity = 1
linear.jog("forward")
while linear.get_position() < 10.0:
pass
linear.stop()
print(f"current pos after continuous jog: {linear.get_position()} mm")
linear.move_to(0)

linear.close()
linear = Z825B()
linear.connect(serialno="27504851", home=True)

try:
# Set and read a few of the parameters pertaining to jogging
print(f"Jog mode: {linear.jog_mode}")
print(f"Stop mode: {linear.stop_mode}")
print(f"Jog step size: {linear.jog_step_size}")
linear.jog_step_size = 1
print(f"Jog step size: {linear.jog_step_size}")
linear.max_pos = 15
print(f"jog velocity: {linear.jog_velocity}")
print(f"jog acceleration: {linear.jog_acceleration}")
print(f"Soft Limit mode: {linear.soft_limits_mode}")

# Jog the position twice and measure position after each step
linear.jog("forward")
print(f"current pos after 1 jog: {linear.get_position()} mm")
linear.jog("forward")
print(f"current pos after 2 jogs: {linear.get_position()} mm")

# change to continuous jog then measure the position after reaching 10 mm
linear.jog_mode = "continuous"
linear.jog_velocity = 1
linear.jog("forward")
while linear.get_position() < 10.0:
pass
linear.stop()
print(f"current pos after continuous jog: {linear.get_position()} mm")
linear.move_to(0)
finally:
linear.close()
96 changes: 49 additions & 47 deletions examples/903.motion/kcube_limits.py
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@@ -1,53 +1,55 @@
# Example of how to use the linear stage (Z825B) with software limits locally

# import the Kinesis Library and make sure the path is correct
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")

# thorlabs_kinesis finds the Kinesis DLLs in C:\Program Files\Thorlabs\Kinesis
# on its own; set THORLABS_DLL_PATHS if they are installed somewhere else.
from pyrolab.drivers.motion.z8xx import Z825B

# Look at the connected KCube for correct serial num
linear = Z825B("27504851", home=True)

# The stage defaults to the "disallow" limit mode
# and defaults to software limits of 0 and 25 mm

# read and set all the different types of software limits modes
print(linear.soft_limits_mode)
linear.soft_limits_mode = "partial"
print(linear.soft_limits_mode)
linear.soft_limits_mode = "all"
print(linear.soft_limits_mode)
linear.soft_limits_mode = "disallow"
print(linear.soft_limits_mode)

# read and set the max position
print(f"max pos: {linear.max_pos} mm")
linear.max_pos = 10
print(f"max pos: {linear.max_pos} mm")

# We will now test the limit mode "disallow"
# it should error if we try to move it outside the limits set
print(f"Before Move: {linear.get_position()} mm")
linear.move_to(5) # Within the limits so no error
print(f"Moved to 5: {linear.get_position()} mm")
linear = Z825B()
linear.connect(serialno="27504851", home=True)

# connect() puts the stage in the "partial" limit mode, and the limits are
# whatever is saved on the device (0 and 25 mm for the Z825B)

try:
linear.move_to(15) # outside the limits so we must catch the error
except RuntimeError:
pass
print(f"Should have dissalowed move: {linear.get_position()} mm")

# We will now test the limit mode "partial"
linear.soft_limits_mode = "partial"
linear.move_to(15) # It will move but only until it has reached it's limit
print(f"Should have truncated move to {linear.max_pos}: {linear.get_position()} mm")

# We will now test the limit mode "all"
linear.soft_limits_mode = "all"
linear.move_to(15) # It will simply ignore any software limit set
print(f"Should have ignored max pos at {linear.max_pos}: {linear.get_position()} mm")
linear.move_to(0)

# min and max pos will reset to 0 and 25 mm and soft_limits_mode resets to "disallow"
linear.close()
# read and set all the different types of software limits modes
print(linear.soft_limits_mode)
linear.soft_limits_mode = "partial"
print(linear.soft_limits_mode)
linear.soft_limits_mode = "all"
print(linear.soft_limits_mode)
linear.soft_limits_mode = "disallow"
print(linear.soft_limits_mode)

# read and set the max position
print(f"max pos: {linear.max_pos} mm")
linear.max_pos = 10
print(f"max pos: {linear.max_pos} mm")

# We will now test the limit mode "disallow"
# it should error if we try to move it outside the limits set
print(f"Before Move: {linear.get_position()} mm")
linear.move_to(5) # Within the limits so no error
print(f"Moved to 5: {linear.get_position()} mm")
try:
linear.move_to(15) # outside the limits so we must catch the error
except RuntimeError:
pass
print(f"Should have dissalowed move: {linear.get_position()} mm")

# We will now test the limit mode "partial"
linear.soft_limits_mode = "partial"
linear.move_to(15) # It will move but only until it has reached it's limit
print(f"Should have truncated move to {linear.max_pos}: {linear.get_position()} mm")

# We will now test the limit mode "all"
linear.soft_limits_mode = "all"
linear.move_to(15) # It will simply ignore any software limit set
print(
f"Should have ignored max pos at {linear.max_pos}: {linear.get_position()} mm"
)
linear.move_to(0)
finally:
# the next connect() reloads the limits saved on the device and goes back
# to the "partial" limit mode
linear.close()
46 changes: 23 additions & 23 deletions examples/903.motion/kcube_rotation.py
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@@ -1,30 +1,30 @@
# Example of how to use the rotation stage (PRM1Z8) locally

# import the Kinesis Library and make sure the path is correct
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")

# thorlabs_kinesis finds the Kinesis DLLs in C:\Program Files\Thorlabs\Kinesis
# on its own; set THORLABS_DLL_PATHS if they are installed somewhere else.
from pyrolab.drivers.motion.prm1z8 import PRM1Z8

# Look at the connected KCube for correct serial num
rot = PRM1Z8("27003366", home=False)
rot = PRM1Z8()
rot.connect(serialno="27003366", home=False)

# Prints out the starting postition to get an idea of where it currently is
starting_pos = rot.get_position()
print(f"Stating position: {starting_pos} degrees")
try:
# Prints out the starting postition to get an idea of where it currently is
starting_pos = rot.get_position()
print(f"Stating position: {starting_pos} degrees")

# A simple script to test moving the stage
while True:
# Input a position in degrees
move_pos = float(input("Rotation Position (deg):"))
# Input a 0 to go back to the starting position and exit the program
if move_pos == 0:
break
pos = rot.get_position()
print(f"Before Move: {pos} degrees")
rot.move_to(move_pos)
pos = rot.get_position()
print(f"After Move: {pos} degrees")
rot.move_to(starting_pos)
rot.close()
# A simple script to test moving the stage
while True:
# Input a position in degrees
move_pos = float(input("Rotation Position (deg):"))
# Input a 0 to go back to the starting position and exit the program
if move_pos == 0:
break
pos = rot.get_position()
print(f"Before Move: {pos} degrees")
rot.move_to(move_pos)
pos = rot.get_position()
print(f"After Move: {pos} degrees")
rot.move_to(starting_pos)
finally:
rot.close()
34 changes: 15 additions & 19 deletions examples/903.motion/kcubes.py
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Original file line number Diff line number Diff line change
@@ -1,21 +1,17 @@
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")

import time
from ctypes import byref, c_double, c_int, pointer

from pyrolab.drivers.motion.z8xx import Z825B

linear = Z825B("27003497", home=False)
while True:
move_pos = int(input("Translation Position:"))
if move_pos == 0:
break
pos = linear.get_position()
print(f"Before Move: {pos}")
linear.move_to(move_pos)
pos = linear.get_position()
print(f"After Move: {pos}")
linear.move_to(0)
linear.close()
linear = Z825B()
linear.connect(serialno="27003497", home=False)
try:
while True:
move_pos = int(input("Translation Position:"))
if move_pos == 0:
break
pos = linear.get_position()
print(f"Before Move: {pos}")
linear.move_to(move_pos)
pos = linear.get_position()
print(f"After Move: {pos}")
linear.move_to(0)
finally:
linear.close()
46 changes: 23 additions & 23 deletions examples/903.motion/kcubes_linear.py
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Original file line number Diff line number Diff line change
@@ -1,30 +1,30 @@
# Example of how to use the linear stage (Z825B) locally

# import the Kinesis Library and make sure the path is correct
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")

# thorlabs_kinesis finds the Kinesis DLLs in C:\Program Files\Thorlabs\Kinesis
# on its own; set THORLABS_DLL_PATHS if they are installed somewhere else.
from pyrolab.drivers.motion.z8xx import Z825B

# Look at the connected KCube for correct serial num
linear = Z825B("27504851", home=False)
linear = Z825B()
linear.connect(serialno="27504851", home=False)

# Prints out the starting postition to get an idea of where it currently is
starting_pos = linear.get_position()
print(f"Stating position: {starting_pos} mm")
try:
# Prints out the starting postition to get an idea of where it currently is
starting_pos = linear.get_position()
print(f"Stating position: {starting_pos} mm")

# A simple script to test moving the stage
while True:
# Input a position in degrees
move_pos = float(input("linear Position (mm):"))
# Input a 0 to go back to the starting position and exit the program
if move_pos == 0:
break
pos = linear.get_position()
print(f"Before Move: {pos} mm")
linear.move_to(move_pos)
pos = linear.get_position()
print(f"After Move: {pos} mm")
linear.move_to(starting_pos)
linear.close()
# A simple script to test moving the stage
while True:
# Input a position in mm
move_pos = float(input("linear Position (mm):"))
# Input a 0 to go back to the starting position and exit the program
if move_pos == 0:
break
pos = linear.get_position()
print(f"Before Move: {pos} mm")
linear.move_to(move_pos)
pos = linear.get_position()
print(f"After Move: {pos} mm")
linear.move_to(starting_pos)
finally:
linear.close()
66 changes: 29 additions & 37 deletions examples/903.motion/nanomax300.py
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Original file line number Diff line number Diff line change
@@ -1,45 +1,37 @@
import os

os.add_dll_directory("C:\\Program Files\\Thorlabs\\Kinesis")
import time

from pyrolab.drivers.motion.max31x import MAX31X

SER_NUM = 71874833

print(f"connecting to {SER_NUM}...")
nm = MAX31X(str(SER_NUM), closed_loop=True)
nm = MAX31X()
nm.connect(serialno=str(SER_NUM), closed_loop=True)
print("connected")
print("zeroing all channels...")
nm.zero()
print("zeroed")
(
x,
y,
z,
) = nm.get_position()
print(f"position of x: {x}")
print(f"position of y: {y}")
print(f"position of z: {z}")
print("Input Jogging Parameters:")
while True:
channel = int(input("Input channel:"))
distance = float(input("Input jog distance:"))
print(f"jogging channel {channel} a distance of {distance}...")
nm.jog(channel, distance)
time.sleep(1)
print("jog complete")
(
x,
y,
z,
) = nm.get_position()
print(f"new position of x: {x}")
print(f"new position of y: {y}")
print(f"new position of z: {z}")
cond = input("Break?")
if (cond == "y") | (cond == "yes"):
break
print("closing nanomax...")
nm.close()
print("closed")
try:
print("zeroing all channels...")
nm.zero()
print("zeroed")
x, y, z = nm.get_position()
print(f"position of x: {x}")
print(f"position of y: {y}")
print(f"position of z: {z}")
print("Input Jogging Parameters:")
while True:
channel = int(input("Input channel:"))
distance = float(input("Input jog distance:"))
print(f"jogging channel {channel} a distance of {distance}...")
nm.jog(channel, distance)
time.sleep(1)
print("jog complete")
x, y, z = nm.get_position()
print(f"new position of x: {x}")
print(f"new position of y: {y}")
print(f"new position of z: {z}")
cond = input("Break?")
if cond in ("y", "yes"):
break
finally:
print("closing nanomax...")
nm.close()
print("closed")
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