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README.md
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# detectorTower
## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
## Overview
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 three objects:
- `detectorTowerAxis`: This is a virtual axis which controls multiple physical motors in order to provide a synchronized movement.
- `detectorTowerController`: This is an expanded variant of `turboPmacController` provided by the Turbo PMAC library linked above.It is needed to operate a `detectorTowerAxis`, but it can also be used to operate a "normal" `turboPmacAxis`.
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### Substitution file
From the perspective of EPICS, the main detector flight tube axis and the auxiliary axes are independent axes and therefore each axis needs its own parametrizatioin in the substitution file. If additional axes are used in the axis, they are parametrized as usual:
From the perspective of EPICS, the main detector flight tube axis and the auxiliary axes are independent axes and therefore each axis needs its own parametrization in the substitution file. If additional axes are used in the axis, they are parametrized as usual:
```
detectorTowerAxis("$(NAME)",1, 2, 3);
turboPmacAxis("$(NAME)",4);
turboPmacAxis("$(NAME)",5);
```
```
file "$(SINQDBPATH)"
{
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## Developer guide
### Code architecture
The code is designed around the `detectorTowerAxis`, which controls the angle of the beam guide and acts as a "master" axis. Other movements are realized as auxiliary axes (e.g. for the vertical lift offset and the tilt offset). The `detectorTowerAxis` has pointers to all associated auxiliary axes and (as described above) its IOC shell constructor also builds the associated auxiliary axes.
The `doPoll` implementation for `detectorTowerAxis` queries the status of both the `detectorTowerAxis` itself and all associated auxiliary axes. If any of the axes is moving, the `detectorTowerAxis` is set to "moving" as well. In turn, the `doPoll` implementation of a `auxiliaryAxis` checks if its associated `detectorTowerAxis` is moving and sets its own movement status accordingly.