feat: integrate motorized 4-position objective turret#528

Merged

Alpaca233 merged 33 commits into

masterfrom

feat/objective-turret

May 19, 2026

Commits on Apr 24, 2026

feat: add modbus RTU client helper for turret controller
Alpaca233
committed
fix: use __future__ annotations in modbus_rtu for py38/py39
Alpaca233
committed
feat: add objective turret _def constants and mutual-exclusion guard

Alpaca233
and
claude
committed
test: add failing tests for ObjectiveTurret4PosControllerSimulation
Alpaca233
committed
feat: add ObjectiveTurret4PosControllerSimulation with Z retract/restore

Alpaca233
and
claude
committed
refactor: drop unused imports and add stage type hint on turret sim
Alpaca233
committed
feat: add ObjectiveTurret4PosController (real Modbus-RTU controller)

Alpaca233
and
claude
committed
docs: note why _wait_for_position has no leading sleep
Alpaca233
committed
feat: add move_to_objective dispatcher to Xeryon 2-pos controller

Alpaca233
and
claude
committed
feat: build objective turret addon in MicroscopeAddons

Alpaca233
and
claude
committed
refactor: unify objective-changer startup via move_to_objective

Alpaca233
and
claude
committed
refactor: unify ObjectivesWidget dispatch via move_to_objective

Alpaca233
and
claude
committed
feat: dispatch objective-changer shutdown by controller type

Alpaca233
and
claude
committed
feat: add resetObjectiveTurret handler on HighContentScreeningGui
Alpaca233
committed
refactor: drop redundant QMessageBox local import in resetObjectiveTurret
Alpaca233
committed
feat: add Reset Objective Turret entry to Utils menu
Alpaca233
committed
fix: make Reset Objective Turret re-home before rotating

Alpaca233
and
claude
committed
fix: address Copilot review on turret lifecycle

Alpaca233
and
claude
committed
fix: wait for RUNNING assertion in _wait_until_idle

Alpaca233
and
claude
committed
fix: retry on Modbus slave-busy responses

Alpaca233
and
claude
committed
fix: use FC 0x04 (read input) for NiMotion input registers

Alpaca233
and
claude
committed
fix: read microstep via FC 0x03 (it's a holding register)

Alpaca233
and
claude
committed

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feat: integrate motorized 4-position objective turret#528

feat: integrate motorized 4-position objective turret#528
Alpaca233 merged 33 commits into
masterfrom
feat/objective-turret

Commits on Apr 24, 2026

feat: add modbus RTU client helper for turret controller

fix: use future annotations in modbus_rtu for py38/py39

feat: add objective turret _def constants and mutual-exclusion guard

test: add failing tests for ObjectiveTurret4PosControllerSimulation

feat: add ObjectiveTurret4PosControllerSimulation with Z retract/restore

refactor: drop unused imports and add stage type hint on turret sim

feat: add ObjectiveTurret4PosController (real Modbus-RTU controller)

docs: note why _wait_for_position has no leading sleep

feat: add move_to_objective dispatcher to Xeryon 2-pos controller

feat: build objective turret addon in MicroscopeAddons

refactor: unify objective-changer startup via move_to_objective

refactor: unify ObjectivesWidget dispatch via move_to_objective

feat: dispatch objective-changer shutdown by controller type

feat: add resetObjectiveTurret handler on HighContentScreeningGui

refactor: drop redundant QMessageBox local import in resetObjectiveTurret

feat: add Reset Objective Turret entry to Utils menu

fix: make Reset Objective Turret re-home before rotating

fix: address Copilot review on turret lifecycle

fix: wait for RUNNING assertion in _wait_until_idle

fix: retry on Modbus slave-busy responses

fix: use FC 0x04 (read input) for NiMotion input registers

fix: read microstep via FC 0x03 (it's a holding register)

Commits on May 19, 2026

feat: calibrate turret homing search/zero speeds

feat: add NiMotion EEPROM baseline recovery tool

feat: short-circuit turret move on target-position equality

refactor: extract _is_alias_for_current helper

fix: disable low-speed opt and force motor offline before calibration

fix: turret motor params + homing reset + log routing

revert: remove tools/write_baseline.py

refactor: simplify turret calibration and tighten move_to_objective

fix: handle unknown objective names without crashing the GUI

fix: remaining Copilot review items

refactor: post-review cleanup of Copilot patches