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feat(hexapod): add hexapod configuration and pivot device class #301

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wakonig_k merged 1 commits from feature/hexapod_config into main 2026-08-19 16:19:14 +02:00
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wakonig_k commented 2026-08-19 10:59:56 +02:00
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Adding the hexapod user template configuration and a wrapper device for the pivot points. While I could not test that it actually moves, I tested that it connects to EPICS channels.

Adding the hexapod user template configuration and a wrapper device for the pivot points. While I could not test that it actually moves, I tested that it connects to EPICS channels.
wakonig_k requested review from diaz 2026-08-19 11:00:10 +02:00
wakonig_k requested review from wyzula_j 2026-08-19 11:00:10 +02:00
wakonig_k force-pushed feature/hexapod_config from cb161b7e1f to 05925553b8 2026-08-19 11:01:34 +02:00 Compare
diaz commented 2026-08-19 16:00:32 +02:00
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Thank you @wakonig_k !
I understand the 6 axes configured as 6 devices, that it clear. What about the pivot point? I can see there are 3 signals. Does it mean that I can see what the pivot point is, but I should change it in the epics panel?
And regarding the initialization: should this be also done in the Epics panel?

Thank you @wakonig_k ! I understand the 6 axes configured as 6 devices, that it clear. What about the pivot point? I can see there are 3 signals. Does it mean that I can see what the pivot point is, but I should change it in the epics panel? And regarding the initialization: should this be also done in the Epics panel?
wakonig_k commented 2026-08-19 16:09:51 +02:00
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hi @diaz!
Yes, these three signals are the pivot points and they are read/write, e.g. hpivot.pivot_x.set(1)
Regarding the initialization: I checked the button in EPICS and it is simply calling HOME on the first axis. So you can do the same on e.g. hx by calling its home function without the need for an extra device or interface. If you want it, we can of course add it though

hi @diaz! Yes, these three signals are the pivot points and they are read/write, e.g. `hpivot.pivot_x.set(1)` Regarding the initialization: I checked the button in EPICS and it is simply calling HOME on the first axis. So you can do the same on e.g. hx by calling its home function without the need for an extra device or interface. If you want it, we can of course add it though
diaz commented 2026-08-19 16:14:27 +02:00
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OK, perfect. I should test this. But I think we can merge even without testing, as the change is only in the template... What do you think?

OK, perfect. I should test this. But I think we can merge even without testing, as the change is only in the template... What do you think?
wakonig_k commented 2026-08-19 16:17:03 +02:00
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I also think so... let's merge it and whenever you have time to test it, it is already there

I also think so... let's merge it and whenever you have time to test it, it is already there
wakonig_k added 1 commit 2026-08-19 16:17:13 +02:00
feat(hexapod): add hexapod configuration and pivot device class
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wakonig_k force-pushed feature/hexapod_config from 05925553b8 to 71a1ac7ec5 2026-08-19 16:17:13 +02:00 Compare
wakonig_k merged commit 71a1ac7ec5 into main 2026-08-19 16:19:14 +02:00
wakonig_k deleted branch feature/hexapod_config 2026-08-19 16:19:14 +02:00
diaz commented 2026-08-19 16:20:27 +02:00
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Cool, thanks!

Cool, thanks!
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Reference: bec/csaxs_bec#301