From 1456b341c42a271c9edfb05917dd69337f273433 Mon Sep 17 00:00:00 2001
From: bruno-f-cruz <7049351+bruno-f-cruz@users.noreply.github.com>
Date: Fri, 12 Jul 2024 11:34:14 -0700
Subject: [PATCH] Allow non-integer numeric values in axis limits

---
 .../calibration/aind_manipulator.py           |  8 ++---
 .../aind_manipulator_calibration_rig.json     | 34 +++++++++----------
 .../AindManipulatorCalibrationRig.cs          | 10 +++---
 3 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py b/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py
index e3cd9a8d..7393416e 100644
--- a/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py
+++ b/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py
@@ -7,7 +7,7 @@
 from pydantic import BaseModel, Field
 
 TASK_LOGIC_VERSION = "0.2.0"
-RIG_VERSION = "0.0.0"
+RIG_VERSION = "0.1.0"
 
 
 class Axis(IntEnum):
@@ -63,13 +63,13 @@ class AxisConfiguration(BaseModel):
         title="Configures the time between step motor pulses (us) used when starting or stopping a movement",
     )
     motor_operation_mode: MotorOperationMode = Field(default=MotorOperationMode.QUIET, title="Motor operation mode")
-    max_limit: int = Field(default=24000, title="Maximum limit. A value of 0 disables this limit.")
-    min_limit: int = Field(default=-1, title="Minimum limit. A value of 0 disables this limit.")
+    max_limit: float = Field(default=25, title="Maximum limit in SI units. A value of 0 disables this limit.")
+    min_limit: float = Field(default=-0.01, title="Minimum limit in SI units. A value of 0 disables this limit.")
 
 
 class AindManipulatorCalibrationInput(BaseModel):
     full_step_to_mm: ManipulatorPosition = Field(
-        default=(ManipulatorPosition(x=0.010, y1=0.010, y2=0.010, z=0.010)), title="Full step to mm"
+        default=(ManipulatorPosition(x=0.010, y1=0.010, y2=0.010, z=0.010)), title="Full step to mm. Used to convert steps to SI Units"
     )
     axis_configuration: List[AxisConfiguration] = Field(
         default=[
diff --git a/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json b/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json
index 5863af76..2d2f53f3 100644
--- a/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json
+++ b/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json
@@ -78,7 +78,7 @@
             "y2": 0.01,
             "z": 0.01
           },
-          "title": "Full step to mm"
+          "title": "Full step to mm. Used to convert steps to SI Units"
         },
         "axis_configuration": {
           "default": [
@@ -89,8 +89,8 @@
               "microstep_resolution": 0,
               "maximum_step_interval": 2000,
               "motor_operation_mode": 0,
-              "max_limit": 24000,
-              "min_limit": -1
+              "max_limit": 25.0,
+              "min_limit": -0.01
             },
             {
               "axis": 3,
@@ -99,8 +99,8 @@
               "microstep_resolution": 0,
               "maximum_step_interval": 2000,
               "motor_operation_mode": 0,
-              "max_limit": 24000,
-              "min_limit": -1
+              "max_limit": 25.0,
+              "min_limit": -0.01
             },
             {
               "axis": 1,
@@ -109,8 +109,8 @@
               "microstep_resolution": 0,
               "maximum_step_interval": 2000,
               "motor_operation_mode": 0,
-              "max_limit": 24000,
-              "min_limit": -1
+              "max_limit": 25.0,
+              "min_limit": -0.01
             },
             {
               "axis": 4,
@@ -119,8 +119,8 @@
               "microstep_resolution": 0,
               "maximum_step_interval": 2000,
               "motor_operation_mode": 0,
-              "max_limit": 24000,
-              "min_limit": -1
+              "max_limit": 25.0,
+              "min_limit": -0.01
             }
           ],
           "items": {
@@ -299,14 +299,14 @@
           "title": "Motor operation mode"
         },
         "max_limit": {
-          "default": 24000,
-          "title": "Maximum limit. A value of 0 disables this limit.",
-          "type": "integer"
+          "default": 25,
+          "title": "Maximum limit in SI units. A value of 0 disables this limit.",
+          "type": "number"
         },
         "min_limit": {
-          "default": -1,
-          "title": "Minimum limit. A value of 0 disables this limit.",
-          "type": "integer"
+          "default": -0.01,
+          "title": "Minimum limit in SI units. A value of 0 disables this limit.",
+          "type": "number"
         }
       },
       "required": [
@@ -379,8 +379,8 @@
   },
   "properties": {
     "version": {
-      "const": "0.0.0",
-      "default": "0.0.0",
+      "const": "0.1.0",
+      "default": "0.1.0",
       "title": "Version",
       "type": "string"
     },
diff --git a/src/Extensions/AindManipulatorCalibrationRig.cs b/src/Extensions/AindManipulatorCalibrationRig.cs
index c58d78fa..66cef6a0 100644
--- a/src/Extensions/AindManipulatorCalibrationRig.cs
+++ b/src/Extensions/AindManipulatorCalibrationRig.cs
@@ -532,9 +532,9 @@ public partial class AxisConfiguration
     
         private MotorOperationMode _motorOperationMode = AindBehaviorServices.AindManipulatorCalibrationRig.MotorOperationMode.Quiet;
     
-        private int _maxLimit = 24000;
+        private double _maxLimit = 25D;
     
-        private int _minLimit = -1;
+        private double _minLimit = -0.01D;
     
         public AxisConfiguration()
         {
@@ -642,7 +642,7 @@ public MotorOperationMode MotorOperationMode
         }
     
         [Newtonsoft.Json.JsonPropertyAttribute("max_limit")]
-        public int MaxLimit
+        public double MaxLimit
         {
             get
             {
@@ -655,7 +655,7 @@ public int MaxLimit
         }
     
         [Newtonsoft.Json.JsonPropertyAttribute("min_limit")]
-        public int MinLimit
+        public double MinLimit
         {
             get
             {
@@ -897,7 +897,7 @@ public enum MotorOperationMode
     public partial class CalibrationRig
     {
     
-        private string _version = "0.0.0";
+        private string _version = "0.1.0";
     
         private string _computerName;