1 """Tools for controlling atomic force microscopes.
3 Provides control of AFM postition using both short-range (piezo) and
4 long range (stepper) vertical positioning. There are separate modules
5 for controlling the piezo (`pypiezo`) and stepper (`stepper`), this
6 module only contains methods that require the capabilities of both.
9 import logging as _logging
11 from pypiezo.base import convert_volts_to_bits as _convert_volts_to_bits
12 from pypiezo.base import convert_meters_to_bits as _convert_meters_to_bits
13 from pypiezo.base import convert_bits_to_meters as _convert_bits_to_meters
14 from pypiezo.surface import SurfaceError as _SurfaceError
15 from pypiezo.surface import FlatFit as _FlatFit
21 LOG = _logging.getLogger('pyafm')
24 LOG.setLevel(_logging.DEBUG)
25 h = _logging.StreamHandler()
26 h.setLevel(_logging.WARN)
27 f = _logging.Formatter("%(asctime)s - %(name)s - %(levelname)s - %(message)s")
34 """Atomic force microscope positioning.
36 Uses a short range `piezo` and a long range `stepper` to position
37 an AFM tip relative to the surface.
41 piezo | pypiezo.afm.AFMpiezo instance
42 Fine positioning and deflection measurements.
43 stepper | stepper.Stepper instance
46 def __init__(self, piezo, stepper, axis_name='z'):
48 self.stepper = stepper
49 self.axis_name = axis_name
51 def move_just_onto_surface(self, depth=-50e-9, setpoint=2, far=200):
52 """Position the AFM tip close to the surface.
54 Uses `.piezo.get_surface_position()` to pinpoint the position
55 of the surface. Adjusts the stepper position as required via
56 `.stepper.step_relative()` to get within
57 `2*.stepper.step_size` meters of the surface. Then adjusts
58 the piezo to place the cantilever `depth` meters onto the
59 surface. Negative `depth`\s place the tip off the surface
61 If `.piezo.get_surface_position()` fails to find the surface,
62 backs off `far` half steps (for safety) and steps in (without
63 moving the zpiezo) until deflection voltage is greater than
66 LOG.info('moving to %g onto the surface' % depth)
68 stepper_tolerance = 2*self.stepper.step_size
69 zero = _convert_volts_to_bits(axis.axis_channel_config, 0)
70 target_def = _convert_volts_to_bits(axis.channel_config, setpoint)
72 LOG.debug('zero the %s piezo output' % self.axis_name)
73 axis = self.piezo.axis_by_name(self.axis_name)
74 self.piezo.jump(axis_name=self.axis_name, position=zero)
76 LOG.debug("see if we're starting near the surface")
78 pos = self.piezo.get_surface_position(
79 axis_name=self.axis_name, max_deflection=target_def)
82 pos = self._stepper_approach_again(setpoint=target_def, far=far)
83 except _SurfaceError, e:
85 pos = self._stepper_approach_again(setpoint=target_def, far=far)
87 pos_m = _convert_bits_to_meters(
88 axis.axis_channel_config, axis.axis_config, pos)
89 LOG.debug('located surface at stepper %d, piezo %d (%g m)'
90 % (self.stepper.position, pos, pos_m))
92 LOG.debug('fine tune the stepper position')
93 while pos_m < -stepper_tolerance: # step back if we need to
94 LOG.debug('step back')
95 self.stepper.step_relative(-1, backlash_safe=True)
96 pos = self.piezo.get_surface_position(
97 axis_name=self.axis_name, max_deflection=target_def)
98 pos_m = _convert_bits_to_meters(
99 axis.axis_channel_config, axis.axis_config, pos)
100 LOG.debug('located surface at stepper %d, piezo %d (%g m)'
101 % (self.stepper.position, pos, pos_m))
102 while pos_m > stepper_tolerance: # step forward if we need to
103 LOG.debug('step forward')
104 self.stepper.step_relative(1)
105 pos = self.piezo.get_surface_position(
106 axis_name=self.axis_name, max_deflection=target_def)
107 pos_m = _convert_bits_to_meters(
108 axis.axis_channel_config, axis.axis_config, pos)
109 LOG.debug('located surface at stepper %d, piezo %d (%g m)'
110 % (self.stepper.position, pos, pos_m))
112 LOG.debug('adjust the %s piezo to place us just onto the surface'
114 target_m = pos_m + depth
115 target = _convert_meters_to_bits(
116 axis.axis_channel_config, axis.axis_config, target_m)
117 self.piezo.jump(self.axis_name, target)
120 'positioned %g m into the surface at stepper %d, piezo %d (%g m)'
121 % (depth, self.stepper.position, target, target_m))
124 def _stepper_approach_again(target_deflection, far):
125 LOG.info('back off %d half steps and approach until deflection > %g'
126 % (far, target_deflection))
129 self.stepper.step_relative(-far, backlash_safe=True)
131 cd = self.pyiezo.read_deflection() # cd = current deflection in bits
132 LOG.debug('single stepping approach')
133 while cd < target_deflection:
134 LOG.debug('deflection %g < setpoint %g. step closer'
135 % (cd, target_deflection))
136 self.stepper.single_step(1) # step in
137 cd = self.pyiezo.read_deflection()
139 for i in range(2*max(1, self.stepper.backlash)):
140 LOG.debug('additional surface location attempt')
142 pos = self.piezo.get_surface_position(
143 axis_name=self.axis_name, max_deflection=target_def)
145 except _SurfaceError, e:
147 self.stepper.single_step(-1) # step out
148 LOG.debug('giving up on finding the surface')