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README.md
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## Overview
![Physical setup](images/PhysicalSetup.svg)
![Coordinate systems](images/CoordinateSystems.svg)
This is a driver for the detector tower which is based on the Turbo PMAC driver (https://git.psi.ch/sinq-epics-modules/turboPmac). It consists of the following four objects:
- `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAngleAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
- `detectorTowerAngleAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a rotation of the entire beam around the support axis position.
- `detectorTowerLiftAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a vertical lift.
- `detectorTowerAngleAxis`: This is a virtual axis which controls multiple physical motors ($x$ and $z$) in order to provide a combined movement. Moving it results in a rotation of the entire beam around the support axis position ($\alpha$).
- `detectorTowerLiftAxis`: This is a virtual axis which controls multiple physical motors in order to provide a combined movement. Moving it results in a vertical lift ($z_{lift}$).
- `detectorTowerSupportAxis`: This is an axis at the rotation center of the beam which is part of the combined movements. Its origin can be shifted manually for small adjustments, resulting in a corresponding movement. Other than that, it is not meant to move on its own, hence setting a new value to the `VAL` field of the motor record won't cause it to move.
## User guide