From 5281812b6992e545db0530e2887b06b27c8d5aa2 Mon Sep 17 00:00:00 2001
From: x01dc <x01dc@psi.ch>
Date: Tue, 1 Sep 2026 20:39:20 +0200
Subject: [PATCH] feat(omny): start osamroy sim at logical 0, speed up all sim
 stages 4x

- osamroy's sim_initial_position is now -25 (raw), so the simulated
  logical readback (raw + 25, per the controller's calibration-mark
  offset) starts at ~0 deg instead of 25 -- no rotation-to-zero needed
  just from starting a session.
- All 21 SimOMNYGalilMotor axes now have an explicit sim_velocity, set
  to 4x their previous implicit default (the _SimGalilAxis fallback of
  5.0 * 25600 = 128000 steps/s). 10.0 for the 20 translation axes
  (stppermm=51200); 5.716463414632019 for osamroy specifically, since
  its stppermm=89565.8666667 differs -- both correspond to the same
  512000 steps/s, i.e. a genuine 4x speedup for every stage.
---
 .../simulated_omny/simulated_omny.yaml        | 23 ++++++++++++++++++-
 1 file changed, 22 insertions(+), 1 deletion(-)

diff --git a/csaxs_bec/device_configs/simulated_omny/simulated_omny.yaml b/csaxs_bec/device_configs/simulated_omny/simulated_omny.yaml
index aaa710ab..ab2abaa7 100644
--- a/csaxs_bec/device_configs/simulated_omny/simulated_omny.yaml
+++ b/csaxs_bec/device_configs/simulated_omny/simulated_omny.yaml
@@ -163,6 +163,7 @@ ofzpx:
     - 0
     port: 8081
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: -0.4317
   enabled: true
   onFailure: buffer
@@ -185,6 +186,7 @@ ofzpy:
     - 0
     port: 8081
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0.7944
   enabled: true
   onFailure: buffer
@@ -207,6 +209,7 @@ ofzpz:
     - 0
     port: 8081
     sign: -1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -228,6 +231,7 @@ otransx:
     - 0
     port: 8081
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -249,6 +253,7 @@ otransy:
     - 0
     port: 8081
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -271,6 +276,7 @@ otransz:
     - 0
     port: 8081
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -292,6 +298,7 @@ osamx:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: -0.1
   enabled: true
   onFailure: buffer
@@ -313,6 +320,7 @@ osamz:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: false
   onFailure: buffer
@@ -334,6 +342,7 @@ oosay:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -356,6 +365,7 @@ oosax:
     - 0
     port: 8082
     sign: -1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -378,6 +388,7 @@ oosaz:
     - 0
     port: 8082
     sign: -1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -400,6 +411,7 @@ oparkz:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -421,6 +433,7 @@ oshuttleopen:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -442,6 +455,7 @@ oshuttlealign:
     - 0
     port: 8082
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -463,6 +477,7 @@ osamy:
     - 0
     port: 8083
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -484,6 +499,7 @@ otracky:
     - 0
     port: 8083
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -505,7 +521,8 @@ osamroy:
     - 0
     port: 8083
     sign: 1
-    sim_initial_position: 0
+    sim_velocity: 5.716463414632019
+    sim_initial_position: -25
   enabled: true
   onFailure: buffer
   readOnly: false
@@ -526,6 +543,7 @@ otrackz:
     - 0
     port: 8083
     sign: -1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -547,6 +565,7 @@ oeyex:
     - 0
     port: 8083
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -568,6 +587,7 @@ oeyez:
     - 0
     port: 8083
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer
@@ -589,6 +609,7 @@ oeyey:
     - 0
     port: 8083
     sign: 1
+    sim_velocity: 10.0
     sim_initial_position: 0
   enabled: true
   onFailure: buffer