yep-312 - has-reference-position

[ddkohler]

No description provided.

[ksunden]

@ddkohler can you write up a summary of the offline conversation about this yep so that it is something we can reference here later?

[ddkohler]

Offline conversation:

• Discussed the idea of a reference frame, where the relationship between client coordinates to native motor positions might be an offset, a scalar factor, or a complex functional form that needs many parameters. Rather than just an offset and invert option, the trait should allow arbitrary coordinate changes (provided they are 1:1). The parameters will be left up to the daemon, with the exception of the reference_position/offset parameter, which should be a fairly universal parameter.
• This allows different units between reference frame and native motor coordinates (also: get_native_units() and get units() can be different)
• add more methods, specifically to set/get native positions, units, (get) native limits
• set_reference and set_reference_native
• properties:
  • offset
  • native offset
  • native position
  • native destination