#!/usr/bin/env python3

# This script instructs the "lin1" motor (first axis of the sinqtest Turbo PMAC
# controller) to drive to -20 mm. Once it arrives, it then drives to -30 mm.
# Afterwards, the motor is disabled and then reenabled

import time

from setup.classes import TurboPMAC

motor = TurboPMAC('turboPmac1', 'lin1')

# Drive to position -20 mm
motor.move_and_wait(-20)

# Drive to position -30 mm
motor.move_and_wait(-30)

# Disable the motor
motor.put_pv('enable', 0)

# Wait a bit so the motor has been disabled
time.sleep(2)

# Reenable the motor
motor.put_pv('enable', 1)