From 71a1ac7ec5292fd359949f710220b62ea92d7bfa Mon Sep 17 00:00:00 2001
From: wakonig_k <klaus.wakonig@psi.ch>
Date: Wed, 19 Aug 2026 10:58:21 +0200
Subject: [PATCH] feat(hexapod): add hexapod configuration and pivot device
 class

---
 csaxs_bec/device_configs/user_template.yaml | 106 +++++++++++++++++---
 csaxs_bec/devices/epics/hexapod_pivot.py    |   9 ++
 2 files changed, 102 insertions(+), 13 deletions(-)
 create mode 100644 csaxs_bec/devices/epics/hexapod_pivot.py

diff --git a/csaxs_bec/device_configs/user_template.yaml b/csaxs_bec/device_configs/user_template.yaml
index c8968a3e..c279f293 100644
--- a/csaxs_bec/device_configs/user_template.yaml
+++ b/csaxs_bec/device_configs/user_template.yaml
@@ -53,16 +53,15 @@ rotx:
     acceleration: 0.2
     user_offset_dir: 1
     limits:
-    - -0.1
-    - 0.1
+      - -0.1
+      - 0.1
   onFailure: buffer
   enabled: true
   readoutPriority: baseline
   softwareTrigger: false
   deviceTags:
     - user_template
-  
-  
+
 ############################################################
 #################### npoint motors #########################
 ############################################################
@@ -74,8 +73,8 @@ npx:
     axis_Id: A
     host: "nPoint000003.psi.ch"
     limits:
-    - -50
-    - 50
+      - -50
+      - 50
     port: 23
     sign: 1
     settle_time: 0.1
@@ -93,8 +92,8 @@ npy:
     axis_Id: B
     host: "nPoint000003.psi.ch"
     limits:
-    - -50
-    - 50
+      - -50
+      - 50
     port: 23
     sign: 1
     settle_time: 0.1
@@ -112,8 +111,8 @@ np2x:
     axis_Id: A
     host: "nPoint219026.psi.ch"
     limits:
-    - -25
-    - 25
+      - -25
+      - 25
     port: 23
     sign: 1
     settle_time: 0.08
@@ -144,7 +143,7 @@ test_cam_mic:
   readoutPriority: async
   deviceTags:
     - user_template
-  
+
 ############################################################
 ####################### Smaract ############################
 ############################################################
@@ -155,8 +154,8 @@ xbpm3x:
     axis_Id: A
     host: x12sa-eb-smaract-mcs-04.psi.ch
     limits:
-    - -200
-    - 200
+      - -200
+      - 200
     port: 5000
     sign: -1
     # precision: 3
@@ -172,3 +171,84 @@ xbpm3x:
     bl_smar_stage: 0
   deviceTags:
     - user_template
+
+############################################################
+####################### Hexapod ############################
+############################################################
+hx:
+  description: Hexapod translation x
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:TRX
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hy:
+  description: Hexapod translation y
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:TRY
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hz:
+  description: Hexapod translation z
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:TRZ
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hrox:
+  description: Hexapod rotation x
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:ROX
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hroy:
+  description: Hexapod rotation y
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:ROY
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hroz:
+  description: Hexapod rotation z
+  deviceClass: ophyd_devices.EpicsUserMotorVME
+  deviceConfig:
+    prefix: X12SA-EH-HXP1:ROZ
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
+hpivot:
+  description: Hexapod pivot points
+  deviceClass: csaxs_bec.devices.epics.hexapod_pivot.HexapodPivot
+  deviceConfig:
+    prefix: "X12SA-EH-HXP1:"
+  onFailure: retry
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+  deviceTags:
+    - user_template
diff --git a/csaxs_bec/devices/epics/hexapod_pivot.py b/csaxs_bec/devices/epics/hexapod_pivot.py
new file mode 100644
index 00000000..cb76d71b
--- /dev/null
+++ b/csaxs_bec/devices/epics/hexapod_pivot.py
@@ -0,0 +1,9 @@
+from ophyd import Component as Cpt
+from ophyd import Device
+from ophyd_devices import EpicsSignal
+
+
+class HexapodPivot(Device):
+    pivot_x = Cpt(EpicsSignal, "PIVOT_X", kind="normal", auto_monitor=True)
+    pivot_y = Cpt(EpicsSignal, "PIVOT_Y", kind="normal", auto_monitor=True)
+    pivot_z = Cpt(EpicsSignal, "PIVOT_Z", kind="normal", auto_monitor=True)
-- 
2.54.0