Refactored GUI

src/autofocus.py

@@ -0,0 +1,371 @@
+"""
+Autofocus module - handles focus detection and autofocus routines.
+"""
+
+import time
+import threading
+from vision import calculate_focus_score_sobel
+
+
+class AutofocusController:
+    """Manages autofocus operations"""
+    
+    # Default timing settings
+    DEFAULT_SETTINGS = {
+        'sweep_move_time': 2.0,
+        'sweep_settle_time': 0.25,
+        'sweep_samples': 10,
+        'sweep_steps': 15,
+        'fine_move_time': 0.15,
+        'fine_settle_time': 0.25,
+        'fine_samples': 10,
+        'fine_max_no_improvement': 5,
+    }
+    
+    def __init__(self, camera, motion_controller, on_log=None, on_focus_update=None):
+        """
+        Args:
+            camera: Camera instance for capturing frames
+            motion_controller: MotionController for Z axis control
+            on_log: Callback(message) for logging
+            on_focus_update: Callback(score) for updating focus display
+        """
+        self.camera = camera
+        self.motion = motion_controller
+        self.on_log = on_log
+        self.on_focus_update = on_focus_update
+        
+        self.running = False
+        self.settings = self.DEFAULT_SETTINGS.copy()
+        self._thread = None
+    
+    def log(self, message):
+        """Log a message"""
+        if self.on_log:
+            self.on_log(message)
+    
+    def update_focus_display(self, score):
+        """Update focus display"""
+        if self.on_focus_update:
+            self.on_focus_update(score)
+    
+    # === Focus Measurement ===
+    
+    def get_focus_score(self):
+        """Get current focus score from camera"""
+        try:
+            frame = self.camera.capture_frame()
+            return calculate_focus_score_sobel(frame)
+        except Exception as e:
+            self.log(f"Focus score error: {e}")
+            return 0
+    
+    def get_averaged_focus(self, samples=5, delay_between=0.05):
+        """
+        Get averaged focus score from multiple samples.
+        Removes outliers for more stable readings.
+        """
+        scores = []
+        for _ in range(samples):
+            scores.append(self.get_focus_score())
+            time.sleep(delay_between)
+        
+        # Remove outliers (top and bottom 20%)
+        scores.sort()
+        trim = len(scores) // 5
+        if trim > 0:
+            scores = scores[trim:-trim]
+        
+        return sum(scores) / len(scores) if scores else 0
+    
+    # === Autofocus Control ===
+    
+    def start(self, speed_range=(1, 5), coarse=False, fine=False):
+        """Start autofocus in background thread"""
+        if self.running:
+            self.log("Autofocus already running")
+            return False
+        
+        # Determine speed range based on mode
+        if coarse:
+            speed_range = (4, 5)
+        elif fine:
+            speed_range = (1, 3)
+        
+        self.running = True
+        self._thread = threading.Thread(
+            target=self._autofocus_routine,
+            args=(speed_range,),
+            daemon=True
+        )
+        self._thread.start()
+        return True
+    
+    def stop(self):
+        """Stop autofocus routine"""
+        self.running = False
+        self.motion.stop_z()
+        self.log("Autofocus stopped")
+    
+    def is_running(self):
+        """Check if autofocus is currently running"""
+        return self.running
+    
+    # === Autofocus Algorithm ===
+    
+    def _autofocus_routine(self, speed_range):
+        """
+        Autofocus using sweep search + hill climbing.
+        Phase 1: Sweep across range to find approximate peak
+        Phase 2: Fine tune from best position found
+        """
+        self.log(f"Starting autofocus (speed range: {speed_range})")
+        
+        min_speed_idx, max_speed_idx = speed_range
+        s = self.settings  # Shorthand
+        
+        try:
+            # Phase 1: Sweep search
+            best_step, best_score = self._sweep_search(
+                min_speed_idx, max_speed_idx, s
+            )
+            
+            if not self.running:
+                return
+            
+            # Move to best position found
+            self._move_to_best_position(best_step, s)
+            
+            if not self.running:
+                return
+            
+            # Phase 2: Fine tuning
+            final_score = self._fine_tune(min_speed_idx, s)
+            
+            self.log(f"Autofocus complete. Final: {final_score:.1f}")
+            
+        except Exception as e:
+            self.log(f"Autofocus error: {e}")
+        finally:
+            self.running = False
+    
+    def _sweep_search(self, min_speed_idx, max_speed_idx, s):
+        """Phase 1: Sweep to find approximate best position"""
+        self.log("Phase 1: Sweep search")
+        
+        # Use medium speed for sweep
+        sweep_speed = (min_speed_idx + max_speed_idx) // 2
+        self.motion.set_speed(sweep_speed)
+        time.sleep(0.1)
+        
+        # Record starting position
+        time.sleep(s['sweep_settle_time'])
+        start_score = self.get_averaged_focus(samples=s['sweep_samples'])
+        self.update_focus_display(start_score)
+        
+        sweep_data = [(0, start_score)]
+        self.log(f"Start position: {start_score:.1f}")
+        
+        if not self.running:
+            return 0, start_score
+        
+        # Sweep DOWN first (away from slide to avoid contact)
+        self.log(f"Sweeping down {s['sweep_steps']} steps...")
+        for i in range(1, s['sweep_steps'] + 1):
+            if not self.running:
+                return 0, start_score
+            
+            self.motion.move_z_down()
+            time.sleep(s['sweep_move_time'])
+            self.motion.stop_z()
+            time.sleep(s['sweep_settle_time'])
+            
+            score = self.get_averaged_focus(samples=s['sweep_samples'])
+            sweep_data.append((-i, score))
+            self.update_focus_display(score)
+            
+            if i % 5 == 0:
+                self.log(f"  Step -{i}: {score:.1f}")
+        
+        if not self.running:
+            return 0, start_score
+        
+        # Return to start
+        self.log("Returning to start...")
+        for _ in range(s['sweep_steps']):
+            if not self.running:
+                return 0, start_score
+            self.motion.move_z_up()
+            time.sleep(s['sweep_move_time'])
+            self.motion.stop_z()
+            time.sleep(0.1)
+        
+        time.sleep(s['sweep_settle_time'])
+        
+        if not self.running:
+            return 0, start_score
+        
+        # Sweep UP
+        self.log(f"Sweeping up {s['sweep_steps']} steps...")
+        for i in range(1, s['sweep_steps'] + 1):
+            if not self.running:
+                return 0, start_score
+            
+            self.motion.move_z_up()
+            time.sleep(s['sweep_move_time'])
+            self.motion.stop_z()
+            time.sleep(s['sweep_settle_time'])
+            
+            score = self.get_averaged_focus(samples=s['sweep_samples'])
+            sweep_data.append((i, score))
+            self.update_focus_display(score)
+            
+            if i % 5 == 0:
+                self.log(f"  Step +{i}: {score:.1f}")
+        
+        # Find best position
+        best_step, best_score = max(sweep_data, key=lambda x: x[1])
+        self.log(f"Best found at step {best_step}: {best_score:.1f}")
+        
+        # Log sweep curve
+        sorted_data = sorted(sweep_data, key=lambda x: x[0])
+        curve_str = " ".join([f"{d[1]:.0f}" for d in sorted_data])
+        self.log(f"Sweep curve: {curve_str}")
+        
+        return best_step, best_score
+    
+    def _move_to_best_position(self, best_step, s):
+        """Move from current position (+SWEEP_STEPS) to best_step"""
+        steps_to_move = s['sweep_steps'] - best_step
+        
+        if steps_to_move > 0:
+            self.log(f"Moving down {steps_to_move} steps to best position")
+            move_func = self.motion.move_z_down
+        else:
+            self.log(f"Moving up {abs(steps_to_move)} steps to best position")
+            move_func = self.motion.move_z_up
+            steps_to_move = abs(steps_to_move)
+        
+        for _ in range(steps_to_move):
+            if not self.running:
+                return
+            move_func()
+            time.sleep(s['sweep_move_time'])
+            self.motion.stop_z()
+            time.sleep(0.1)
+        
+        time.sleep(s['sweep_settle_time'])
+        current_score = self.get_averaged_focus(samples=s['sweep_samples'])
+        self.log(f"At best position: {current_score:.1f}")
+    
+    def _fine_tune(self, min_speed_idx, s):
+        """Phase 2: Fine hill-climbing from best position"""
+        self.log("Phase 2: Fine tuning")
+        
+        self.motion.set_speed(min_speed_idx)
+        time.sleep(0.1)
+        
+        best_score = self.get_averaged_focus(samples=s['fine_samples'])
+        
+        # Determine fine direction by testing both
+        fine_direction = self._determine_fine_direction(best_score, s)
+        
+        if not self.running:
+            return best_score
+        
+        # Fine search
+        best_score, best_position_offset = self._fine_search(
+            fine_direction, best_score, s
+        )
+        
+        if not self.running:
+            return best_score
+        
+        # Return to best position
+        if best_position_offset > 0:
+            self._return_to_best(fine_direction, best_position_offset, s)
+        
+        # Final reading
+        time.sleep(s['fine_settle_time'])
+        final_score = self.get_averaged_focus(samples=s['fine_samples'])
+        self.update_focus_display(final_score)
+        
+        return final_score
+    
+    def _determine_fine_direction(self, best_score, s):
+        """Test both directions to find which improves focus"""
+        # Try DOWN first
+        self.motion.move_z_down()
+        time.sleep(s['fine_move_time'])
+        self.motion.stop_z()
+        time.sleep(s['fine_settle_time'])
+        
+        down_score = self.get_averaged_focus(samples=s['fine_samples'])
+        
+        if down_score > best_score:
+            self.log(f"Fine direction: DOWN ({down_score:.1f})")
+            return 'down'
+        
+        # Go back and try UP
+        self.motion.move_z_up()
+        time.sleep(s['fine_move_time'])
+        self.motion.stop_z()
+        time.sleep(s['fine_settle_time'])
+        
+        self.motion.move_z_up()
+        time.sleep(s['fine_move_time'])
+        self.motion.stop_z()
+        time.sleep(s['fine_settle_time'])
+        
+        up_score = self.get_averaged_focus(samples=s['fine_samples'])
+        
+        if up_score > best_score:
+            self.log(f"Fine direction: UP ({up_score:.1f})")
+            return 'up'
+        
+        # Already at peak
+        self.log("Already at peak, minor adjustment only")
+        self.motion.move_z_down()
+        time.sleep(s['fine_move_time'])
+        self.motion.stop_z()
+        time.sleep(s['fine_settle_time'])
+        
+        return 'up'
+    
+    def _fine_search(self, direction, best_score, s):
+        """Search in given direction until no improvement"""
+        move_func = self.motion.move_z_up if direction == 'up' else self.motion.move_z_down
+        
+        no_improvement_count = 0
+        best_position_offset = 0
+        
+        while self.running and no_improvement_count < s['fine_max_no_improvement']:
+            move_func()
+            time.sleep(s['fine_move_time'])
+            self.motion.stop_z()
+            time.sleep(s['fine_settle_time'])
+            
+            current_score = self.get_averaged_focus(samples=s['fine_samples'])
+            self.update_focus_display(current_score)
+            
+            if current_score > best_score:
+                best_score = current_score
+                no_improvement_count = 0
+                best_position_offset = 0
+                self.log(f"Fine better: {current_score:.1f}")
+            else:
+                no_improvement_count += 1
+                best_position_offset += 1
+        
+        return best_score, best_position_offset
+    
+    def _return_to_best(self, direction, steps, s):
+        """Return to best position by reversing direction"""
+        self.log(f"Returning {steps} steps")
+        reverse_func = self.motion.move_z_down if direction == 'up' else self.motion.move_z_up
+        
+        for _ in range(steps):
+            reverse_func()
+            time.sleep(s['fine_move_time'])
+            self.motion.stop_z()
+            time.sleep(0.1)

src/gui.py

@@ -1,3 +1,8 @@
+"""
+AutoScope GUI - Pure UI layer.
+Delegates logic to controllers.
+"""
+
 import tkinter as tk
 from tkinter import ttk, scrolledtext
 from PIL import Image, ImageTk
@@ -5,18 +10,25 @@ import cv2
 import threading
 import queue
 
+from motion_controller import MotionController
+from autofocus import AutofocusController
+
+
 class AppGUI:
     def __init__(self, camera, arduino):
         self.camera = camera
         self.arduino = arduino
         self.running = True
         self._updating_slider = False
-        self.autofocus_running = False
-        self.autofocus_speed_range = (1, 6)  # Speed indices 1-6 (values: 2, 5, 10, 30, 50, 70)
         
-        # Track movement state for toggle buttons
+        # Initialize controllers
-        self.axis_direction = {'X': 1, 'Y': 1, 'Z': 1}  # 1 = positive, -1 = negative
+        self.motion = MotionController(arduino, on_command_sent=self._on_command_sent)
-        self.axis_moving = {'X': False, 'Y': False, 'Z': False}
+        self.autofocus = AutofocusController(
+            camera, 
+            self.motion,
+            on_log=self.log_message,
+            on_focus_update=self._update_focus_display_threadsafe
+        )
         
         # Queue for thread-safe serial log updates
         self.serial_queue = queue.Queue()
@@ -34,8 +46,17 @@ class AppGUI:
         self.serial_thread = threading.Thread(target=self._serial_reader, daemon=True)
         self.serial_thread.start()
     
+    def _on_command_sent(self, cmd):
+        """Callback when motion controller sends a command"""
+        self.log_message(f"> {cmd}")
+    
+    def _update_focus_display_threadsafe(self, score):
+        """Thread-safe focus display update"""
+        self.root.after(0, lambda: self.focus_score_label.config(text=f"Focus: {score:.1f}"))
+    
+    # === UI Building ===
+    
     def _build_ui(self):
-        # Main container
         main_frame = ttk.Frame(self.root)
         main_frame.pack(fill=tk.BOTH, expand=True, padx=5, pady=5)
         
@@ -48,608 +69,236 @@ class AppGUI:
         right_frame.pack(side=tk.RIGHT, fill=tk.BOTH, expand=True)
         right_frame.pack_propagate(False)
         
-        # === EMERGENCY STOP (prominent at top) ===
+        self._build_emergency_stop(right_frame)
-        emergency_frame = ttk.Frame(right_frame)
+        self._build_speed_controls(right_frame)
-        emergency_frame.pack(fill=tk.X, pady=(0, 10))
+        self._build_fine_speed_controls(right_frame)
+        self._build_movement_controls(right_frame)
+        self._build_autofocus_controls(right_frame)
+        self._build_status_controls(right_frame)
+        self._build_mode_controls(right_frame)
+        self._build_serial_log(right_frame)
+        self._build_command_entry(right_frame)
+    
+    def _build_emergency_stop(self, parent):
+        frame = ttk.Frame(parent)
+        frame.pack(fill=tk.X, pady=(0, 10))
         
         self.emergency_btn = tk.Button(
-            emergency_frame, 
+            frame,
             text="⚠ EMERGENCY STOP ⚠",
-            command=lambda: self.send_command("!"),
+            command=self.motion.stop_all,
             bg='red', fg='white', font=('Arial', 12, 'bold'),
             height=2
         )
         self.emergency_btn.pack(fill=tk.X)
     
-        # === SPEED CONTROL ===
+    def _build_speed_controls(self, parent):
-        speed_frame = ttk.LabelFrame(right_frame, text="Speed")
+        frame = ttk.LabelFrame(parent, text="Speed")
-        speed_frame.pack(fill=tk.X, pady=(0, 10))
+        frame.pack(fill=tk.X, pady=(0, 10))
         
-        speed_btn_frame = ttk.Frame(speed_frame)
+        btn_frame = ttk.Frame(frame)
-        speed_btn_frame.pack(fill=tk.X, padx=5, pady=5)
+        btn_frame.pack(fill=tk.X, padx=5, pady=5)
         
         self.speed_var = tk.StringVar(value="Medium")
         
-        ttk.Radiobutton(speed_btn_frame, text="Slow", variable=self.speed_var, 
+        for text, value, preset in [("Slow", "Slow", "slow"), 
-                        value="Slow", command=lambda: self.send_command("L")).pack(side=tk.LEFT, padx=5)
+                                     ("Medium", "Medium", "medium"),
-        ttk.Radiobutton(speed_btn_frame, text="Medium", variable=self.speed_var, 
+                                     ("Fast", "Fast", "fast")]:
-                        value="Medium", command=lambda: self.send_command("M")).pack(side=tk.LEFT, padx=5)
+            ttk.Radiobutton(
-        ttk.Radiobutton(speed_btn_frame, text="Fast", variable=self.speed_var, 
+                btn_frame, text=text, variable=self.speed_var,
-                        value="Fast", command=lambda: self.send_command("F")).pack(side=tk.LEFT, padx=5)
+                value=value, command=lambda p=preset: self.motion.set_speed_preset(p)
-        # === FINE SPEED CONTROL ===
+            ).pack(side=tk.LEFT, padx=5)
-        fine_speed_frame = ttk.LabelFrame(right_frame, text="Fine Speed Control")
-        fine_speed_frame.pack(fill=tk.X, pady=(0, 10))
     
-        # Speed values matching Arduino speedArr (index 0-5) plus 0 for stop
+    def _build_fine_speed_controls(self, parent):
-        self.speed_values = [0, 2, 5, 10, 30, 50, 70, 100]
+        frame = ttk.LabelFrame(parent, text="Fine Speed Control")
+        frame.pack(fill=tk.X, pady=(0, 10))
         
-        fine_inner = ttk.Frame(fine_speed_frame)
+        inner = ttk.Frame(frame)
-        fine_inner.pack(fill=tk.X, padx=5, pady=5)
+        inner.pack(fill=tk.X, padx=5, pady=5)
         
-        # Current speed display
+        self.fine_speed_label = ttk.Label(inner, text="Speed: 50", font=('Arial', 10, 'bold'))
-        self.fine_speed_label = ttk.Label(fine_inner, text="Speed: 50", font=('Arial', 10, 'bold'))
         self.fine_speed_label.pack(anchor=tk.W)
         
-        # Slider
+        self.speed_slider = ttk.Scale(inner, from_=0, to=6, orient=tk.HORIZONTAL)
-        self.speed_slider = ttk.Scale(
+        self.speed_slider.set(5)
-            fine_inner, 
+        self.speed_slider.config(command=self._on_speed_slider_change)
-            from_=0, 
-            to=6,
-            orient=tk.HORIZONTAL,
-            command=self._on_speed_slider_change
-        )
-        self.speed_slider.set(5)  # Default to middle
         self.speed_slider.pack(fill=tk.X, pady=(5, 0))
         
-        # Number buttons for direct selection
+        btn_row = ttk.Frame(inner)
-        btn_row = ttk.Frame(fine_inner)
         btn_row.pack(fill=tk.X, pady=(5, 0))
         
-        for i in range(7):
+        for i in range(6):
-            btn = ttk.Button(
+            ttk.Button(
-                btn_row, 
+                btn_row, text=str(i), width=2,
-                text=str(i), 
-                width=2,
                 command=lambda x=i: self._set_fine_speed(x)
-            )
+            ).pack(side=tk.LEFT, padx=1)
-            btn.pack(side=tk.LEFT, padx=1)
-        # === MOVEMENT CONTROLS ===
-        move_frame = ttk.LabelFrame(right_frame, text="Movement Control")
-        move_frame.pack(fill=tk.X, pady=(0, 10))
     
-        # Command mapping for each axis
+    def _build_movement_controls(self, parent):
-        self.axis_commands = {
+        frame = ttk.LabelFrame(parent, text="Movement Control")
-            'X': {'pos': 'E', 'neg': 'W', 'stop': 'e'},
+        frame.pack(fill=tk.X, pady=(0, 10))
-            'Y': {'pos': 'N', 'neg': 'S', 'stop': 'n'},
-            'Z': {'pos': 'U', 'neg': 'D', 'stop': 'u'}
-        }
         
         self.dir_labels = {}
         self.move_buttons = {}
         
         for axis in ["X", "Y", "Z"]:
-            row = ttk.Frame(move_frame)
+            row = ttk.Frame(frame)
             row.pack(fill=tk.X, pady=3, padx=5)
             
-            # Axis label
             ttk.Label(row, text=f"{axis}:", width=3, font=('Arial', 10, 'bold')).pack(side=tk.LEFT)
             
-            # Direction toggle button
             dir_btn = ttk.Button(row, text="+ →", width=5,
-                                command=lambda a=axis: self.toggle_direction(a))
+                                command=lambda a=axis: self._toggle_direction(a))
             dir_btn.pack(side=tk.LEFT, padx=2)
             self.dir_labels[axis] = dir_btn
             
-            # Start/Stop movement toggle
             move_btn = tk.Button(row, text="Move", width=8, bg='green', fg='white',
-                                command=lambda a=axis: self.toggle_movement(a))
+                                command=lambda a=axis: self._toggle_movement(a))
             move_btn.pack(side=tk.LEFT, padx=2)
             self.move_buttons[axis] = move_btn
             
-            # Quick stop for this axis
             ttk.Button(row, text="Stop", width=6,
-                      command=lambda a=axis: self.stop_axis(a)).pack(side=tk.LEFT, padx=2)
+                      command=lambda a=axis: self._stop_axis(a)).pack(side=tk.LEFT, padx=2)
         
-        # Stop All button
+        ttk.Button(frame, text="Stop All Axes",
-        ttk.Button(move_frame, text="Stop All Axes", 
+                  command=self.motion.stop_all).pack(fill=tk.X, padx=5, pady=5)
-                  command=lambda: self.send_command("X")).pack(fill=tk.X, padx=5, pady=5)
     
-        # === AUTOFOCUS CONTROL ===
+    def _build_autofocus_controls(self, parent):
-        af_frame = ttk.LabelFrame(right_frame, text="Autofocus")
+        frame = ttk.LabelFrame(parent, text="Autofocus")
-        af_frame.pack(fill=tk.X, pady=(0, 10))
+        frame.pack(fill=tk.X, pady=(0, 10))
         
-        af_inner = ttk.Frame(af_frame)
+        inner = ttk.Frame(frame)
-        af_inner.pack(fill=tk.X, padx=5, pady=5)
+        inner.pack(fill=tk.X, padx=5, pady=5)
         
-        # Focus score display
+        self.focus_score_label = ttk.Label(inner, text="Focus: --", font=('Arial', 10))
-        self.focus_score_label = ttk.Label(af_inner, text="Focus: --", font=('Arial', 10))
         self.focus_score_label.pack(anchor=tk.W)
         
-        # Autofocus buttons
+        btn_row = ttk.Frame(inner)
-        af_btn_row = ttk.Frame(af_inner)
+        btn_row.pack(fill=tk.X, pady=(5, 0))
-        af_btn_row.pack(fill=tk.X, pady=(5, 0))
         
-        self.af_button = ttk.Button(af_btn_row, text="Autofocus", command=self.start_autofocus)
+        self.af_button = ttk.Button(btn_row, text="Autofocus", command=self._start_autofocus)
         self.af_button.pack(side=tk.LEFT, padx=2)
         
-        ttk.Button(af_btn_row, text="Coarse AF", command=lambda: self.start_autofocus(coarse=True)).pack(side=tk.LEFT, padx=2)
+        ttk.Button(btn_row, text="Coarse AF",
-        ttk.Button(af_btn_row, text="Fine AF", command=lambda: self.start_autofocus(fine=True)).pack(side=tk.LEFT, padx=2)
+                  command=lambda: self._start_autofocus(coarse=True)).pack(side=tk.LEFT, padx=2)
-        ttk.Button(af_btn_row, text="Stop AF", command=self.stop_autofocus).pack(side=tk.LEFT, padx=2)
+        ttk.Button(btn_row, text="Fine AF",
+                  command=lambda: self._start_autofocus(fine=True)).pack(side=tk.LEFT, padx=2)
+        ttk.Button(btn_row, text="Stop AF",
+                  command=self._stop_autofocus).pack(side=tk.LEFT, padx=2)
         
-        # Live focus monitoring toggle
         self.live_focus_var = tk.BooleanVar(value=True)
-        ttk.Checkbutton(af_inner, text="Show live focus score", 
+        ttk.Checkbutton(inner, text="Show live focus score",
                        variable=self.live_focus_var).pack(anchor=tk.W, pady=(5, 0))
     
+    def _build_status_controls(self, parent):
+        frame = ttk.LabelFrame(parent, text="Status")
+        frame.pack(fill=tk.X, pady=(0, 10))
         
-        # === POSITION & STATUS ===
+        btn_frame = ttk.Frame(frame)
-        pos_frame = ttk.LabelFrame(right_frame, text="Status")
+        btn_frame.pack(fill=tk.X, padx=5, pady=5)
-        pos_frame.pack(fill=tk.X, pady=(0, 10))
         
-        pos_btn_frame = ttk.Frame(pos_frame)
+        ttk.Button(btn_frame, text="Status", command=self.motion.request_status).pack(side=tk.LEFT, padx=2)
-        pos_btn_frame.pack(fill=tk.X, padx=5, pady=5)
+        ttk.Button(btn_frame, text="Zero All", command=self.motion.zero_all).pack(side=tk.LEFT, padx=2)
+        ttk.Button(btn_frame, text="Go Origin", command=self.motion.go_origin).pack(side=tk.LEFT, padx=2)
     
-        ttk.Button(pos_btn_frame, text="Status", command=lambda: self.send_command("?")).pack(side=tk.LEFT, padx=2)
+    def _build_mode_controls(self, parent):
-        ttk.Button(pos_btn_frame, text="Zero All", command=lambda: self.send_command("Z")).pack(side=tk.LEFT, padx=2)
+        frame = ttk.LabelFrame(parent, text="Control Mode")
-        ttk.Button(pos_btn_frame, text="Go Origin", command=lambda: self.send_command("G")).pack(side=tk.LEFT, padx=2)
+        frame.pack(fill=tk.X, pady=(0, 10))
         
-        # === MODE CONTROL ===
+        btn_frame = ttk.Frame(frame)
-        mode_frame = ttk.LabelFrame(right_frame, text="Control Mode")
+        btn_frame.pack(fill=tk.X, padx=5, pady=5)
-        mode_frame.pack(fill=tk.X, pady=(0, 10))
         
-        mode_btn_frame = ttk.Frame(mode_frame)
+        self.mode_label = ttk.Label(btn_frame, text="Mode: Serial", font=('Arial', 9))
-        mode_btn_frame.pack(fill=tk.X, padx=5, pady=5)
-        
-        self.mode_label = ttk.Label(mode_btn_frame, text="Mode: Serial", font=('Arial', 9))
         self.mode_label.pack(side=tk.LEFT, padx=5)
         
-        ttk.Button(mode_btn_frame, text="Toggle Mode", command=lambda: self.send_command("T")).pack(side=tk.RIGHT, padx=2)
+        ttk.Button(btn_frame, text="Toggle Mode", command=self.motion.toggle_mode).pack(side=tk.RIGHT, padx=2)
     
-        # === SERIAL LOG ===
+    def _build_serial_log(self, parent):
-        ttk.Label(right_frame, text="Serial Log:").pack(anchor=tk.W)
+        ttk.Label(parent, text="Serial Log:").pack(anchor=tk.W)
-        self.serial_log = scrolledtext.ScrolledText(right_frame, height=10, width=35, state=tk.DISABLED)
+        self.serial_log = scrolledtext.ScrolledText(parent, height=10, width=35, state=tk.DISABLED)
         self.serial_log.pack(fill=tk.BOTH, expand=True, pady=(0, 10))
     
-        # === CUSTOM COMMAND ===
+    def _build_command_entry(self, parent):
-        ttk.Label(right_frame, text="Send Command:").pack(anchor=tk.W)
+        ttk.Label(parent, text="Send Command:").pack(anchor=tk.W)
-        cmd_frame = ttk.Frame(right_frame)
+        cmd_frame = ttk.Frame(parent)
         cmd_frame.pack(fill=tk.X)
         
         self.cmd_entry = ttk.Entry(cmd_frame)
         self.cmd_entry.pack(side=tk.LEFT, fill=tk.X, expand=True)
-        self.cmd_entry.bind("<Return>", lambda e: self.send_custom_command())
+        self.cmd_entry.bind("<Return>", lambda e: self._send_custom_command())
         
-        ttk.Button(cmd_frame, text="Send", command=self.send_custom_command).pack(side=tk.RIGHT, padx=(5, 0))
+        ttk.Button(cmd_frame, text="Send", command=self._send_custom_command).pack(side=tk.RIGHT, padx=(5, 0))
     
-    def toggle_direction(self, axis):
+    # === UI Event Handlers ===
-        """Toggle direction for an axis"""
-        self.axis_direction[axis] *= -1
-        direction = "+" if self.axis_direction[axis] == 1 else "-"
-        arrow = "→" if self.axis_direction[axis] == 1 else "←"
-        self.dir_labels[axis].config(text=f"{direction} {arrow}")
     
-        # If currently moving, restart in new direction
+    def _toggle_direction(self, axis):
-        if self.axis_moving[axis]:
+        direction = self.motion.toggle_direction(axis)
-            self.stop_axis(axis)
+        arrow = "→" if direction == 1 else "←"
-            self.start_movement(axis)
+        sign = "+" if direction == 1 else "-"
+        self.dir_labels[axis].config(text=f"{sign} {arrow}")
         
-    def toggle_movement(self, axis):
+        if self.motion.is_moving(axis):
-        """Toggle movement on/off for an axis"""
+            self.motion.stop_axis(axis)
-        if self.axis_moving[axis]:
+            self.motion.start_movement(axis)
-            self.stop_axis(axis)
-        else:
-            self.start_movement(axis)
-    
-    def start_movement(self, axis):
-        """Start continuous movement on an axis"""
-        commands = self.axis_commands[axis]
-        cmd = commands['pos'] if self.axis_direction[axis] == 1 else commands['neg']
-        self.send_command(cmd)
-        self.axis_moving[axis] = True
             self.move_buttons[axis].config(text="Moving", bg='orange')
     
-    def stop_axis(self, axis):
+    def _toggle_movement(self, axis):
-        """Stop movement on a specific axis"""
+        if self.motion.is_moving(axis):
-        commands = self.axis_commands[axis]
+            self._stop_axis(axis)
-        self.send_command(commands['stop'])
+        else:
-        self.axis_moving[axis] = False
+            self.motion.start_movement(axis)
+            self.move_buttons[axis].config(text="Moving", bg='orange')
+    
+    def _stop_axis(self, axis):
+        self.motion.stop_axis(axis)
         self.move_buttons[axis].config(text="Move", bg='green')
     
-    def send_command(self, cmd):
-        """Send a command and log it"""
-        self.log_message(f"> {cmd}")
-        if self.arduino:
-            self.arduino.send_command(cmd)
-    
-    def send_custom_command(self):
-        """Send command from entry box"""
-        cmd = self.cmd_entry.get().strip()
-        if cmd:
-            self.send_command(cmd)
-            self.cmd_entry.delete(0, tk.END)
-
     def _on_speed_slider_change(self, value):
-        """Handle slider movement"""
         if self._updating_slider:
             return
-        # Round to nearest integer
         index = round(float(value))
         self._set_fine_speed(index)
     
     def _set_fine_speed(self, index):
-        """Set fine speed by index (0-10)"""
-        # Prevent recursion
         self._updating_slider = True
-        # Update slider position
         self.speed_slider.set(index)
-        
+        speed_val = self.motion.get_speed_value(index)
-        # Update label with actual speed value
-        speed_val = self.speed_values[index]
         self.fine_speed_label.config(text=f"Speed: {speed_val}")
         self._updating_slider = False
+        self.motion.set_speed(index)
     
-        # Send command - '0' for index 0, '1'-'9' for 1-9, 'a' for 10
+    def _start_autofocus(self, coarse=False, fine=False):
-        if index == 0:
+        if self.autofocus.start(coarse=coarse, fine=fine):
-            self.send_command("0")
-        elif index <= 9:
-            self.send_command(str(index))
-        else:
-            # For index 10 (speed 300), you'd need to add a handler on Arduino
-            # For now, send '9' as max or add a new command
-            self.send_command("9")
-
-    
-
-
-
-
-
-
-
-    def get_focus_score(self):
-        """Get current focus score from camera"""
-        try:
-            frame = self.camera.capture_frame()
-            from vision import calculate_focus_score_sobel
-            score = calculate_focus_score_sobel(frame)
-            return score
-        except Exception as e:
-            print(f"Focus score error: {e}")
-            return 0
-
-    def start_autofocus(self, coarse=False, fine=False):
-        """Start autofocus routine in background thread"""
-        if self.autofocus_running:
-            self.log_message("Autofocus already running")
-            return
-        
-        self.autofocus_running = True
             self.af_button.config(state='disabled')
     
-        # Determine speed range based on mode
+    def _stop_autofocus(self):
-        if coarse:
+        self.autofocus.stop()
-            speed_range = (4, 6)  # Faster speeds: 30, 50, 70
-        elif fine:
-            speed_range = (1, 3)  # Slower speeds: 2, 5, 10
-        else:
-            speed_range = (1, 6)  # Full range
-        
-        af_thread = threading.Thread(
-            target=self._autofocus_routine, 
-            args=(speed_range,),
-            daemon=True
-        )
-        af_thread.start()
-
-    def stop_autofocus(self):
-        """Stop autofocus routine"""
-        self.autofocus_running = False
-        self.send_command('u')  # Stop Z axis
         self.af_button.config(state='normal')
-        self.log_message("Autofocus stopped")
     
-    def _get_averaged_focus(self, samples=5, delay_between=0.05):
+    def _send_custom_command(self):
-        """
+        cmd = self.cmd_entry.get().strip()
-        Get averaged focus score from multiple samples.
+        if cmd:
-        Reduces noise in focus measurements.
+            self.motion.send_command(cmd)
-        """
+            self.cmd_entry.delete(0, tk.END)
-        import time
-        scores = []
-        for _ in range(samples):
-            scores.append(self.get_focus_score())
-            time.sleep(delay_between)
     
-        # Remove outliers (optional - take middle 60%)
+    # === Logging ===
-        scores.sort()
-        trim = len(scores) // 5  # Remove top and bottom 20%
-        if trim > 0:
-            scores = scores[trim:-trim]
-        
-        return sum(scores) / len(scores)
-
-    def _autofocus_routine(self, speed_range):
-        """
-        Autofocus using sweep search + hill climbing.
-        Phase 1: Sweep across range to find approximate peak
-        Phase 2: Fine tune from best position found
-        """
-        import time
-        
-        self.log_message(f"Starting autofocus (speed range: {speed_range})")
-        
-        min_speed_idx, max_speed_idx = speed_range
-        
-        # Timing settings
-        SWEEP_MOVE_TIME = 2      # Movement time per sweep step
-        SWEEP_SETTLE_TIME = 0.25     # Settle time during sweep
-        SWEEP_SAMPLES = 10
-        
-        FINE_MOVE_TIME = 0.15
-        FINE_SETTLE_TIME = 0.25
-        FINE_SAMPLES = 10
-        
-        # Number of steps in each direction for sweep
-        SWEEP_STEPS = 15  # Total sweep = 2 * SWEEP_STEPS positions
-        
-        # ========================================
-        # Phase 1: Sweep search
-        # ========================================
-        self.log_message("Phase 1: Sweep search")
-        
-        # Use medium speed for sweep
-        sweep_speed = (min_speed_idx + max_speed_idx) // 2
-        self._set_fine_speed_no_send(sweep_speed)
-        self.send_command(str(sweep_speed))
-        time.sleep(0.1)
-        
-        # Record starting position score
-        time.sleep(SWEEP_SETTLE_TIME)
-        start_score = self._get_averaged_focus(samples=SWEEP_SAMPLES)
-        self._update_focus_display(start_score)
-        
-        # Data structure: (steps_from_start, score)
-        # Positive = up from start, negative = down from start
-        sweep_data = [(0, start_score)]
-        self.log_message(f"Start position: {start_score:.1f}")
-        
-        if not self.autofocus_running:
-            return
-        
-        # Sweep DOWN first tyo avoid objective / slide contact
-        self.log_message(f"Sweeping down {SWEEP_STEPS} steps...")
-        for i in range(1, SWEEP_STEPS + 1):
-            if not self.autofocus_running:
-                return
-            
-            self.send_command('D')
-            time.sleep(SWEEP_MOVE_TIME)
-            self.send_command('d')
-            time.sleep(SWEEP_SETTLE_TIME)
-            
-            score = self._get_averaged_focus(samples=SWEEP_SAMPLES)
-            sweep_data.append((-i, score))
-            self._update_focus_display(score)
-            
-            if i % 5 == 0:
-                self.log_message(f"  Step -{i}: {score:.1f}")
-        
-        if not self.autofocus_running:
-            return
-        
-        # Return to start
-        self.log_message("Returning to start...")
-        for _ in range(SWEEP_STEPS):
-            if not self.autofocus_running:
-                return
-            self.send_command('U')
-            time.sleep(SWEEP_MOVE_TIME)
-            self.send_command('u')
-            time.sleep(0.1)  # Faster return, no need to sample
-        
-        time.sleep(SWEEP_SETTLE_TIME)
-        
-        if not self.autofocus_running:
-            return
-        
-        # Sweep UP
-        self.log_message(f"Sweeping up {SWEEP_STEPS} steps...")
-        for i in range(1, SWEEP_STEPS + 1):
-            if not self.autofocus_running:
-                return
-            
-            self.send_command('U')
-            time.sleep(SWEEP_MOVE_TIME)
-            self.send_command('u')
-            time.sleep(SWEEP_SETTLE_TIME)
-            
-            score = self._get_averaged_focus(samples=SWEEP_SAMPLES)
-            sweep_data.append((i, score))
-            self._update_focus_display(score)
-            
-            if i % 5 == 0:
-                self.log_message(f"  Step +{i}: {score:.1f}")
-        
-        if not self.autofocus_running:
-            return
-        
-        # ========================================
-        # Find best position from sweep
-        # ========================================
-        best_step, best_score = max(sweep_data, key=lambda x: x[1])
-        self.log_message(f"Best found at step {best_step}: {best_score:.1f}")
-        
-        # Log the full sweep curve for debugging
-        self.log_message("Sweep curve:")
-        sorted_data = sorted(sweep_data, key=lambda x: x[0])
-        curve_str = " ".join([f"{s[1]:.0f}" for s in sorted_data])
-        self.log_message(f"  {curve_str}")
-        
-        # ========================================
-        # Move to best position
-        # ========================================
-        # Currently at +SWEEP_STEPS, need to go to best_step
-        steps_to_move = SWEEP_STEPS - best_step  # Positive = move down
-        
-        if steps_to_move > 0:
-            self.log_message(f"Moving down {steps_to_move} steps to best position")
-            move_cmd, stop_cmd = 'D', 'd'
-        else:
-            self.log_message(f"Moving up {abs(steps_to_move)} steps to best position")
-            move_cmd, stop_cmd = 'U', 'u'
-            steps_to_move = abs(steps_to_move)
-        
-        for _ in range(steps_to_move):
-            if not self.autofocus_running:
-                return
-            self.send_command(move_cmd)
-            time.sleep(SWEEP_MOVE_TIME)
-            self.send_command(stop_cmd)
-            time.sleep(0.1)
-        
-        time.sleep(SWEEP_SETTLE_TIME)
-        current_score = self._get_averaged_focus(samples=SWEEP_SAMPLES)
-        self.log_message(f"At best position: {current_score:.1f}")
-        
-        if not self.autofocus_running:
-            return
-        
-        # ========================================
-        # Phase 2: Fine hill-climbing from best position
-        # ========================================
-        self.log_message("Phase 2: Fine tuning")
-        
-        fine_speed = min_speed_idx
-        self._set_fine_speed_no_send(fine_speed)
-        self.send_command(str(fine_speed))
-        time.sleep(0.1)
-        
-        best_score = current_score
-        
-        # Try both directions to find which improves
-        # Try UP first
-        self.send_command('D')
-        time.sleep(FINE_MOVE_TIME)
-        self.send_command('d')
-        time.sleep(FINE_SETTLE_TIME)
-        
-        down_score = self._get_averaged_focus(samples=FINE_SAMPLES)
-        
-        if down_score > best_score:
-            fine_direction = 0  # DOWN
-            best_score = down_score
-            self.log_message(f"Fine direction: UP ({down_score:.1f})")
-        else:
-            # Go back down and try down
-            self.send_command('U')
-            time.sleep(FINE_MOVE_TIME)
-            self.send_command('u')
-            time.sleep(FINE_SETTLE_TIME)
-            
-            self.send_command('U')
-            time.sleep(FINE_MOVE_TIME)
-            self.send_command('u')
-            time.sleep(FINE_SETTLE_TIME)
-            
-            up_score = self._get_averaged_focus(samples=FINE_SAMPLES)
-            
-            if up_score > best_score:
-                fine_direction = 1  # UP
-                best_score = up_score
-                self.log_message(f"Fine direction: DOWN ({up_score:.1f})")
-            else:
-                # We're already at the peak
-                self.log_message("Already at peak, minor adjustment only")
-                fine_direction = 1  # Try up anyway
-                # Go back to center
-                self.send_command('U')
-                time.sleep(FINE_MOVE_TIME)
-                self.send_command('u')
-                time.sleep(FINE_SETTLE_TIME)
-        
-        if not self.autofocus_running:
-            return
-        
-        # Fine search
-        move_cmd = 'U' if fine_direction else 'D'
-        stop_cmd = 'u' if fine_direction else 'd'
-        reverse_cmd = 'D' if fine_direction else 'U'
-        reverse_stop = 'd' if fine_direction else 'u'
-        
-        no_improvement_count = 0
-        max_fine_no_improvement = 5
-        best_position_offset = 0
-        
-        while self.autofocus_running and no_improvement_count < max_fine_no_improvement:
-            self.send_command(move_cmd)
-            time.sleep(FINE_MOVE_TIME)
-            self.send_command(stop_cmd)
-            time.sleep(FINE_SETTLE_TIME)
-            
-            current_score = self._get_averaged_focus(samples=FINE_SAMPLES)
-            self._update_focus_display(current_score)
-            
-            if current_score > best_score:
-                best_score = current_score
-                no_improvement_count = 0
-                best_position_offset = 0
-                self.log_message(f"Fine better: {current_score:.1f}")
-            else:
-                no_improvement_count += 1
-                best_position_offset += 1
-        
-        if not self.autofocus_running:
-            return
-        
-        # Return to best fine position
-        if best_position_offset > 0:
-            self.log_message(f"Returning {best_position_offset} steps")
-            for _ in range(best_position_offset):
-                self.send_command(reverse_cmd)
-                time.sleep(FINE_MOVE_TIME)
-                self.send_command(reverse_stop)
-                time.sleep(0.1)
-        
-        # Final reading
-        time.sleep(FINE_SETTLE_TIME)
-        final_score = self._get_averaged_focus(samples=FINE_SAMPLES)
-        self._update_focus_display(final_score)
-        
-        self.autofocus_running = False
-        self.log_message(f"Autofocus complete. Final: {final_score:.1f}")
-        
-        self.root.after(0, lambda: self.af_button.config(state='normal'))
-
-    
-    
-    def _set_fine_speed_no_send(self, index):
-        """Update slider/label without sending command (for internal use)"""
-        self._updating_slider = True
-        self.speed_slider.set(index)
-        speed_val = self.speed_values[index]
-        self.fine_speed_label.config(text=f"Speed: {speed_val}")
-        self._updating_slider = False
-
-    def _update_focus_display(self, score):
-        """Update focus score display (thread-safe)"""
-        self.root.after(0, lambda: self.focus_score_label.config(text=f"Focus: {score:.1f}"))
     
     def log_message(self, msg):
-        """Add message to serial log"""
         if not hasattr(self, 'serial_log'):
             return
+        
         self.serial_log.config(state=tk.NORMAL)
         self.serial_log.insert(tk.END, msg + "\n")
         self.serial_log.see(tk.END)
         self.serial_log.config(state=tk.DISABLED)
         print(f"  Log: {msg}")
         
-        # Check for mode changes in received messages
         if msg.startswith("< MODE:"):
             mode = msg.split(":")[-1]
             self.mode_label.config(text=f"Mode: {mode.capitalize()}")
     
+    # === Serial & Camera ===
+    
     def _serial_reader(self):
-        """Background thread to read serial data"""
         while self.running:
             if self.arduino and self.arduino.ser.in_waiting:
                 try:
@@ -661,24 +310,20 @@ class AppGUI:
             threading.Event().wait(0.05)
     
     def _process_serial_queue(self):
-        """Process queued serial messages (call from main thread)"""
         while not self.serial_queue.empty():
             msg = self.serial_queue.get_nowait()
             self.log_message(f"< {msg}")
     
     def update_camera(self):
-        """Capture and display one frame"""
         try:
             frame = self.camera.capture_frame()
             
-            # Show live focus score if enabled
+            if self.live_focus_var.get() and not self.autofocus.is_running():
-            if self.live_focus_var.get():
+                score = self.autofocus.get_focus_score()
-                score = self._get_averaged_focus()
                 self.focus_score_label.config(text=f"Focus: {score:.1f}")
             
             frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
             
-            # Resize if needed
             h, w = frame.shape[:2]
             max_width = 640
             if w > max_width:
@@ -693,18 +338,24 @@ class AppGUI:
         except Exception as e:
             print(f"Camera error: {e}")
     
+    # === Main Loop ===
+    
     def run(self):
-        """Main loop"""
         def update():
             if self.running:
                 self.update_camera()
                 self._process_serial_queue()
+                
+                # Re-enable AF button when done
+                if not self.autofocus.is_running():
+                    self.af_button.config(state='normal')
+                
                 self.root.after(33, update)
         
         update()
         self.root.mainloop()
     
     def on_close(self):
-        """Clean shutdown"""
         self.running = False
+        self.autofocus.stop()
         self.root.destroy()

src/motion_controller.py

@@ -0,0 +1,124 @@
+"""
+Motion controller - manages axis movement state and commands.
+Abstracts the command protocol from the GUI.
+"""
+
+class MotionController:
+    # Command mapping for each axis
+    AXIS_COMMANDS = {
+        'X': {'pos': 'E', 'neg': 'W', 'stop': 'e'},
+        'Y': {'pos': 'N', 'neg': 'S', 'stop': 'n'},
+        'Z': {'pos': 'U', 'neg': 'D', 'stop': 'u'}
+    }
+    
+    # Speed values matching Arduino speedArr
+    SPEED_VALUES = [0, 2, 5, 10, 30, 50, 70]
+    
+    def __init__(self, arduino, on_command_sent=None):
+        """
+        Args:
+            arduino: Arduino instance for sending commands
+            on_command_sent: Optional callback(cmd) when command is sent
+        """
+        self.arduino = arduino
+        self.on_command_sent = on_command_sent
+        
+        # Axis state
+        self.axis_direction = {'X': 1, 'Y': 1, 'Z': 1}
+        self.axis_moving = {'X': False, 'Y': False, 'Z': False}
+        
+        # Speed state
+        self.current_speed_index = 5
+    
+    def send_command(self, cmd):
+        """Send command to Arduino and notify callback"""
+        if self.arduino:
+            self.arduino.send_command(cmd)
+        if self.on_command_sent:
+            self.on_command_sent(cmd)
+    
+    # === Axis Movement ===
+    
+    def get_direction(self, axis):
+        """Get current direction for axis (1 = positive, -1 = negative)"""
+        return self.axis_direction[axis]
+    
+    def toggle_direction(self, axis):
+        """Toggle direction and return new direction"""
+        self.axis_direction[axis] *= -1
+        return self.axis_direction[axis]
+    
+    def is_moving(self, axis):
+        """Check if axis is currently moving"""
+        return self.axis_moving[axis]
+    
+    def start_movement(self, axis):
+        """Start continuous movement on an axis"""
+        commands = self.AXIS_COMMANDS[axis]
+        cmd = commands['pos'] if self.axis_direction[axis] == 1 else commands['neg']
+        self.send_command(cmd)
+        self.axis_moving[axis] = True
+    
+    def stop_axis(self, axis):
+        """Stop movement on a specific axis"""
+        commands = self.AXIS_COMMANDS[axis]
+        self.send_command(commands['stop'])
+        self.axis_moving[axis] = False
+    
+    def stop_all(self):
+        """Emergency stop all axes"""
+        self.send_command('!')
+        for axis in self.axis_moving:
+            self.axis_moving[axis] = False
+    
+    def move_z_up(self):
+        """Start Z axis moving up"""
+        self.send_command('U')
+    
+    def move_z_down(self):
+        """Start Z axis moving down"""
+        self.send_command('D')
+    
+    def stop_z(self):
+        """Stop Z axis"""
+        self.send_command('u')
+    
+    # === Speed Control ===
+    
+    def get_speed_value(self, index):
+        """Get actual speed value for index"""
+        if 0 <= index < len(self.SPEED_VALUES):
+            return self.SPEED_VALUES[index]
+        return 0
+    
+    def set_speed(self, index):
+        """Set speed by index (0-6)"""
+        self.current_speed_index = index
+        if index == 0:
+            self.send_command("0")
+        elif index <= 6:
+            self.send_command(str(index))
+    
+    def set_speed_preset(self, preset):
+        """Set speed by preset name: 'slow', 'medium', 'fast'"""
+        presets = {'slow': 'L', 'medium': 'M', 'fast': 'F'}
+        if preset in presets:
+            self.send_command(presets[preset])
+    
+    # === Status Commands ===
+    
+    def request_status(self):
+        """Request status from Arduino"""
+        self.send_command('?')
+    
+    def zero_all(self):
+        """Zero all axis positions"""
+        self.send_command('Z')
+    
+    def go_origin(self):
+        """Move to origin position"""
+        self.send_command('G')
+    
+    def toggle_mode(self):
+        """Toggle between serial/joystick mode"""
+        self.send_command('T')