now reading encoder values for axes with encoder

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -15,7 +15,6 @@ from csaxs_bec.devices.omny.galil.galil_ophyd import (
     GalilAxesReferenced,
     GalilController,
     GalilMotorIsMoving,
-    GalilMotorResolution,
     GalilSetpointSignal,
     GalilSignalRO,
     retry_once,
@@ -24,6 +23,19 @@ from csaxs_bec.devices.omny.galil.galil_ophyd import (
 logger = bec_logger.logger
 
 
+class GalilMotorResolution(GalilSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self):
+        if self.parent.axis_Id_numeric < 6:
+            return float(
+                self.controller.socket_put_and_receive(f"MG encpermm[{self.parent.axis_Id_numeric}]")
+            )
+        else:
+            return float(
+                self.controller.socket_put_and_receive(f"MG stppermm[{self.parent.axis_Id_numeric}]")
+            )
+
 class LamniGalilController(GalilController):
 
 
@@ -154,11 +166,18 @@ class LamniGalilReadbackSignal(GalilSignalRO):
         Returns:
             float: Readback value after adjusting for sign and motor resolution.
         """
-        current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
-        current_pos *= self.parent.sign
-        step_mm = self.parent.motor_resolution.get()
-        return current_pos / step_mm
-
+        if self.parent.axis_Id_numeric < 6:
+            current_pos = float(self.controller.socket_put_and_receive(f"TP{self.parent.axis_Id}"))
+            current_pos *= self.parent.sign
+            encoder_resolution = self.parent.motor_resolution.get()
+            logger.info(f"Read galil encoder position of axis {self.parent.axis_Id_numeric} to be TP {current_pos} with resolution {encoder_resolution}")
+            return current_pos / encoder_resolution
+        else:
+            current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
+            current_pos *= self.parent.sign
+            step_mm = self.parent.motor_resolution.get()
+            return current_pos / step_mm
+        
     def read(self):
         self._metadata["timestamp"] = time.time()
         val = super().read()

csaxs_bec/scans/LamNIFermatScan.py

@@ -169,6 +169,9 @@ class LamNIMixin:
 
         self.device_manager.devices.lsamx.read_only = True
         self.device_manager.devices.lsamy.read_only = True
+        
+        #update angle readback before start of the scan
+        yield from self.stubs.send_rpc_and_wait("lsamrot", "readback.get")
 
         yield from self.stubs.send_rpc_and_wait("rtx", "controller.feedback_enable_without_reset")