# masterMacs

## Overview

This is a driver for the masterMacs motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.

## User guide

This driver is a standard sinqMotor-derived driver and does not need any specific configuration. For the general configuration, please see https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

The folder "utils" contains utility scripts for working with masterMacs motor controllers:
- decodeStatus.py: Take the return message of a R10 (read status) command and print it in human-readable form.

## Developer guide

### Usage in IOC shell

masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
- `masterMacsController`: Create a new controller object.
- `masterMacsAxis`: Create a new axis object.
These functions are parametrized as follows:
```
masterMacsController(
    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
    "$(ASYN_PORT)", # IP-Port of the MCU. This parameter should be provided by an environment variable.
    8, # Maximum number of axes
    0.05, # Busy poll period in seconds
    1, # Idle poll period in seconds
    0.05 # Communication timeout in seconds
    );
```
```
masterMacsAxis(
    "$(NAME)", # Name of the associated MCU, e.g. mcu1. This parameter should be provided by an environment variable.
    1, # Index of the axis.
    );
```

### Versioning

Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

### How to build it

Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.