M3-LS Micromanipulator

This Arduino-based solution utilizes M3-LS linear smart stages to provide cell biology researchers with an accessible method for nanoscale interaction with living cells.

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Hardware Requirements

1. 3x M3-LS linear smart stages
2. 1x Arduino Due
3. 1x Arduino USB Host Shield
4. TODO: Circuit / Breakout Board
5. TODO: Brackets
6. TODO: Mounting
7. TODO: Needle Holder

Software Dependencies

1. This library's latest release
2. The latest release of the Arduino IDE
3. The USB Host Shield Library

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Setup

First, download this library's latest release. Open up your Arduino IDE and navigate to Sketch->Include Library->Add .ZIP Library... . Locate and select the release you just downloaded. If you have not done so previously, you must also install the USB host shield library. This can be done by going to Sketch->Include Library->Manage Libraries...->USB Host Shield Library 2.0->Install .

TODO: Shield(s) physical setup guide (with pictures)

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Customization

A handful of sketches are including to get your system up and running as quickly as possible. These can be found within the Arduino IDE at File->Examples->M3LS. The most basic of these sketches is basicExample, shown below.

#include "M3LS.h"

// Select which pins will be used for the X, Y, and Z axis
int xpin = A3; int ypin = A2; int zpin = A0;

// Initialize the library with your three selected pins
M3LS myM3LS(xpin, ypin, zpin);

void setup(){
    // Run the library's setup routine
    myM3LS.begin();

    // Set which buttons will move the Z axis up and down
    myM3LS.bindButton(2, M3LS::ZDown);
    myM3LS.bindButton(3, M3LS::ZUp);
}

void loop(){
    // Have the library run continuously
    myM3LS.run();
}

Note that the faded lines preceeded with "//" are inactive.

Joysticks and personal preference can vary significantly. To accomadate this, different button assignments can be made easily. For example, to change the controller to use button #9 for moving the Z axis down and 7 for moving the Z axis up, edit the sketch as such:

myM3LS.bindButton(9, M3LS::ZDown);
myM3LS.bindButton(7, M3LS::ZUp);

If your joystick's buttons are not clearly labeled, please consult its user manual to determine the appropriate numbers to use.

In addition to remapping the desired buttons, the associated functionality can be adjusted as well. Please see fullExample and the list of available commands below for more examples.

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Available Commands

Command	Code Snippet	Description
ActiveMovement	myM3LS.bindButton(1, M3LS::ActiveMovement);	When held, allows for needle movement while in the hold state.
SetHome	myM3LS.bindButton(2, M3LS::SetHome);	Store the needle’s current position as the home position.
ReturnHome	myM3LS.bindButton(3, M3LS::ReturnHome);	Moves the needle to the stored home position.
CenterAxes	myM3LS.bindButton(4, M3LS::CenterAxes);	Recenters the needle.
ToggleHold	myM3LS.bindButton(5, M3LS::ToggleHold);	Prevents new joystick inputs from moving the needle until toggled again. The current location is set as the new position mode center upon resuming.
ToggleVelocity	myM3LS.bindButton(6, M3LS::ToggleVelocity);	Toggles between manipulating the needle with absolute positioning or velocity based positioning. The current location is set as the new position mode center upon exiting velocity mode.
ZUp	myM3LS.bindButton(7, M3LS::ZUp);	Moves the needle’s position within the Z axis upward.
ZDown	myM3LS.bindButton(8, M3LS::ZDown);	Moves the needle’s position within the Z axis downward.
InvertX	myM3LS.bindButton(9, M3LS::InvertX);	Toggles the direction joystick inputs will cause the X axis to travel in.
InvertY	myM3LS.bindButton(10, M3LS::InvertY);	Toggles the direction joystick inputs will cause the Y axis to travel in.
InvertZ	myM3LS.bindButton(11, M3LS::InvertZ);	Toggles the direction of travel of the ZUp and ZDown commands.
InvertS	myM3LS.bindButton(12, M3LS::InvertS);	Toggles the direction of the sensitivity adjustment.