From fa601aab686852407bf2b7a24235146ad1d1c89e Mon Sep 17 00:00:00 2001
From: Kevin Peter Hickerson <hickerson@gmail.com>
Date: Tue, 25 Apr 2023 11:52:41 -0700
Subject: [PATCH] Added and commented out some bias on the turret.

---
 lumascope_api.py |  1 +
 lumaviewpro.kv   | 14 ++++++++++++++
 lumaviewpro.py   | 27 +++++++++++++++++++++------
 3 files changed, 36 insertions(+), 6 deletions(-)

diff --git a/lumascope_api.py b/lumascope_api.py
index c0611be..0964f2c 100644
--- a/lumascope_api.py
+++ b/lumascope_api.py
@@ -329,6 +329,7 @@ def tmove(self, degrees):
 
         if not self.motion: return
         # MUST home move objective home first to prevent crash
+        self.zhome()
         #self.xyhome()
         #self.xycenter()
 
diff --git a/lumaviewpro.kv b/lumaviewpro.kv
index f7a4b11..e6770af 100644
--- a/lumaviewpro.kv
+++ b/lumaviewpro.kv
@@ -400,6 +400,13 @@
 		size_hint_y: None
 		height: '30dp'
 
+        Button:
+            id: turret_left_btn
+            size_hint_x: None
+            width: '40dp'
+            text: '<'
+            on_release: root.turret_left()
+
 		Button:
 			id: turret_home_btn
 			size_hint_x: None
@@ -423,6 +430,13 @@
 			id: turret_pos_4_btn
 			text: '4'
             on_release: root.turret_select('4')
+            
+        Button:
+            id: turret_right_btn
+            size_hint_x: None
+            width: '40dp'
+            text: '>'
+            on_release: root.turret_right()
 
 	ZStack:
 		id: zstack_id
diff --git a/lumaviewpro.py b/lumaviewpro.py
index d62dd1f..6c1cc38 100644
--- a/lumaviewpro.py
+++ b/lumaviewpro.py
@@ -1049,7 +1049,18 @@ def Richardson_Lucy(self, image):
         # plot_deconvolution.html#sphx-glr-download-auto-examples-filters-plot-deconvolution-py
         pass
 
+    def turret_left(self):
+        lumaview.scope.turret_bias -= 1
+        angle = 90*lumaview.scope.turret_id + lumaview.scope.turret_bias
+        lumaview.scope.tmove(angle)
+        
+    def turret_right(self):
+        lumaview.scope.turret_bias += 1
+        angle = 90*lumaview.scope.turret_id + lumaview.scope.turret_bias
+        lumaview.scope.tmove(angle)
+    
     def turret_home(self):
+        lumaview.scope.turret_bias = 0
         lumaview.scope.thome()
         self.ids['turret_pos_1_btn'].state = 'normal'
         self.ids['turret_pos_2_btn'].state = 'normal'
@@ -1057,32 +1068,36 @@ def turret_home(self):
         self.ids['turret_pos_4_btn'].state = 'normal'
 
     def turret_select(self, position):
-
         #TODO check if turret has been HOMED turret first
-
+        lumaview.scope.turret_id = int(position) - 1
+        angle = 90*lumaview.scope.turret_id #+ lumaview.scope.turret_bias
+        lumaview.scope.tmove(angle)
+        
+        #self.ids['turret_pos_1_btn'].state = 'normal'
+        #self.ids['turret_pos_2_btn'].state = 'normal'
+        #self.ids['turret_pos_3_btn'].state = 'normal'
+        #self.ids['turret_pos_4_btn'].state = 'normal'
+        #self.ids[f'turret_pos_{position}_btn'].state = 'down'
+                    
         if position == '1':
-            lumaview.scope.tmove(0)
             self.ids['turret_pos_1_btn'].state = 'down'
             self.ids['turret_pos_2_btn'].state = 'normal'
             self.ids['turret_pos_3_btn'].state = 'normal'
             self.ids['turret_pos_4_btn'].state = 'normal'
 
         elif position == '2':
-            lumaview.scope.tmove(90)
             self.ids['turret_pos_1_btn'].state = 'normal'
             self.ids['turret_pos_2_btn'].state = 'down'
             self.ids['turret_pos_3_btn'].state = 'normal'
             self.ids['turret_pos_4_btn'].state = 'normal'
 
         elif position == '3':
-            lumaview.scope.tmove(180)
             self.ids['turret_pos_1_btn'].state = 'normal'
             self.ids['turret_pos_2_btn'].state = 'normal'
             self.ids['turret_pos_3_btn'].state = 'down'
             self.ids['turret_pos_4_btn'].state = 'normal'
 
         elif position == '4':
-            lumaview.scope.tmove(270)
             self.ids['turret_pos_1_btn'].state = 'normal'
             self.ids['turret_pos_2_btn'].state = 'normal'
             self.ids['turret_pos_3_btn'].state = 'normal'