Add a set PV for the SeleneMotor

- make the number of extra parameters in SINQController configurable
    - add database entry for the motor set field
    - add the new function "setMotorPosition_" to the Selene controller
    - execute Qx59=<pos> to set the new position

configure/RELEASE

@@ -25,17 +25,20 @@ TEMPLATE_TOP=$(EPICS_BASE)/templates/makeBaseApp/top
 #SNCSEQ=$(EPICS_BASE)/../modules/soft/seq
 
 # EPICS_BASE usually appears last so other apps can override stuff:
-EPICS_BASE=/opt/epics/bases/base-3.14.12.5
+
+#EPICS_BASE=
+#MODULES=/home/epics/modules
 
 # Set RULES here if you want to take build rules from somewhere
 # other than EPICS_BASE:
-#RULES=/path/to/epics/support/module/rules/x-y
+##RULES=/path/to/epics/support/module/rules/x-y
-MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
+#MOTOR=/opt/epics/modules/motor/6.10.0/3.14.12.5
-ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
+#ASYN=/opt/epics/modules/asyn/4.27.0/3.14.12.5
-SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
+#SYNAPPSSTD=/opt/epics/modules/synAppsStd/3.4.1/3.14.12.5/
-#ANC=/usr/local/epics/anc350v17
+##ANC=/usr/local/epics/anc350v17
-STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
+#STREAMS=/opt/epics/modules/streamdevice/2.6.0/3.14.12.5
-#LAKESHORE336=/usr/local/epics/support/lakeshore336
+##LAKESHORE336=/usr/local/epics/support/lakeshore336
-BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
+#BUSY=/opt/epics/modules/busy/1.6.0/3.14.12.5
-#OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
+##OXINSTCRYOJET=/usr/local/epics/support/OxInstCryojet-2-18-3
-PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5
+#PCRE=/opt/epics/modules/pcre/8.36.0/3.14.12.5
+

sinqEPICSApp/Db/motorSet.db

@@ -0,0 +1,6 @@
+# workaround over set position
+record(ao, "$(P)$(M)-SetPosition") {
+    field(DTYP, "asynFloat64")
+    field(OUT, "@asyn($(PORT),$(N),1) SET_MOTOR_POSITION")
+    field(PINI, "YES")
+}

sinqEPICSApp/src/SINQController.cpp

@@ -10,8 +10,8 @@
 #include "SINQController.h"
 #include "asynMotorController.h"
 
-SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes)
+SINQController::SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams)
-  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+2,
+  :  asynMotorController(portName, numAxes+1, NUM_MOTOR_DRIVER_PARAMS+extraParams,
                          0, // No additional interfaces beyond those in base class
                          0, // No additional callback interfaces beyond those in base class
                          ASYN_CANBLOCK | ASYN_MULTIDEVICE, 

sinqEPICSApp/src/SINQController.h

@@ -17,7 +17,7 @@
 class epicsShareClass SINQController : public asynMotorController
 {
  public:
-  SINQController(const char *portName, const char *SINQPortName, int numAxes);
+  SINQController(const char *portName, const char *SINQPortName, int numAxes, const int& extraParams=2);
 
   friend class SINQAxis;
  protected:

sinqEPICSApp/src/pmacAxis.cpp

@@ -8,9 +8,9 @@
  *  23 May 2012
  * 
  * Substantially modified for use at SINQ at PSI. 
- * The thing with the PMACS is that they can be programmed.
+ * The thing with the PMAC's is that they can be programmed.
  * This affects also the commands they understand. 
- * Our PMACS also do not seem to like to return multiple replies.....
+ * Our PMAC's also do not seem to like to return multiple replies.....
  *
  * I use a starting flag to catch a peculiar feature of our PMAC implementation:
  * when the motor is hung, it wont start. I check for this and cause an alarm.
@@ -44,6 +44,8 @@
 
 #define MULT 1000.
 
+#define ABS(x) (x < 0 ? -(x) : (x))
+
 extern "C" void shutdownCallback(void *pPvt)
 {
   pmacController *pC = static_cast<pmacController *>(pPvt);
@@ -244,7 +246,8 @@ asynStatus pmacAxis::setPosition(double position)
 {
   //int status = 0;
   static const char *functionName = "pmacAxis::setPosition";
-  
+  errlogPrintf("executing : %s\n", functionName);
+
   pC_->debugFlow(functionName);  
 
   // Cannot do this. 
@@ -417,6 +420,8 @@ asynStatus pmacAxis::getAxisStatus(bool *moving)
     previous_position_ = position;
     previous_direction_ = direction;
 
+    // errlogPrintf("Polling, axStat = %d, axErr = %d, position = %f\n", axStat, axErr, position);
+
     /* are we done? */
     if((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0 ){
       done = 1;
@@ -561,3 +566,122 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
   }
   return result;
 }
+
+/*================================= SeleneAxis code ======================================================*/
+asynStatus SeleneAxis::home(double min_velocity, double max_velocity, double acceleration, int forwards)
+{
+  asynStatus status = asynError;
+  static const char *functionName = "SeleneAxis::home";
+
+  pC_->debugFlow(functionName); 
+
+  updateMsgTxtFromDriver("Cannot home on this axis type");
+
+
+  return status;
+}
+/*----------------------------------------------------------------------------------------------------------------*/
+asynStatus SeleneAxis::move(double position, int relative, double min_velocity, double max_velocity, double acceleration)
+{
+  asynStatus status = asynError;
+  static const char *functionName = "SeleneAxis::move";
+  double realPosition;
+
+  updateMsgTxtFromDriver("");
+
+  pC_->debugFlow(functionName);  
+
+  char command[128] = {0};
+  char response[32] = {0};
+
+  pC_->debugFlow(functionName); 
+
+  if(relative){
+    realPosition = previous_position_ + position/MULT;
+  } else {
+    realPosition = position/MULT;
+  }
+  startTime = time(NULL);
+  status6Time = 0;
+  starting = 1;
+
+  /*
+    Run into limit when asked for by a suitable position, else
+    position absolutely
+  */
+  if(ABS(realPosition - limitTarget) < .05){
+    sprintf(command,"P%d50=3", axisNo_);
+  } else {
+    sprintf(command,"Q%d51=%f P%x50=1",axisNo_, realPosition, axisNo_); 
+  }
+        
+  errlogPrintf("Sending drive command: %s\n", command);
+ 
+  status = pC_->lowLevelWriteRead(axisNo_,command, response);
+  
+  return status;
+}
+/*----------------------------------------------------------------------------------------------------*/
+asynStatus SeleneAxis::setPosition(double position) {
+  asynStatus status = asynError;
+  return status;
+}
+/*======================================= Selene Lift Axis Code ===========================================*/
+asynStatus LiftAxis::move(double position, int relative, double min_velocity, 
+			  double max_velocity, double acceleration)
+{
+  asynStatus status = asynError;
+  static const char *functionName = "LiftAxis::move";
+  double realPosition;
+
+  updateMsgTxtFromDriver("");
+  pC_->debugFlow(functionName);  
+
+  char command[128] = {0};
+  char response[32] = {0};
+
+  pC_->debugFlow(functionName); 
+
+  if(relative){
+    realPosition = previous_position_ + position/MULT;
+  } else {
+    realPosition = position/MULT;
+  }
+  startTime = time(NULL);
+  status6Time = 0;
+  starting = 1;
+
+  sprintf( command, "Q15%d=%12.4f", axisNo_, realPosition);
+        
+  status = pC_->lowLevelWriteRead(axisNo_,command, response);
+  waitStart = 1;
+
+  return status;
+}
+/*--------------------------------------------------------------------------------------------------------
+  Return *moving until the motor moved started moving. This enables the start command 
+  to be sent separatly.
+----------------------------------------------------------------------------------------------------------*/
+asynStatus LiftAxis::poll(bool *moving)
+{
+  asynStatus status;
+
+  status = getAxisStatus(moving);
+  if(*moving == false && waitStart == 1){
+    *moving = true;
+    setIntegerParam(pC_->motorStatusMoving_, true);
+    setIntegerParam(pC_->motorStatusDone_, false);
+ }
+  if(*moving){
+    waitStart = 0;
+  }
+  callParamCallbacks();
+  return status;
+}
+/*--------------------------------------------------------------------------------------------------------------*/
+asynStatus LiftAxis::stop(double acceleration)
+{
+  waitStart = 0;
+  return pmacAxis::stop(acceleration);
+}
+/*-------------------------------------------------------------------------------------------------------------*/

sinqEPICSApp/src/pmacAxis.h

@@ -10,6 +10,9 @@
  * Modified to use the MsgTxt field for SINQ
  *
  * Mark Koennecke, January 2019
+ *
+ * EXtended with special motor axis for the Selene 
+ * guide, Mark Koennecke, February 2020
  ********************************************/
 
 #ifndef pmacAxis_H
@@ -19,6 +22,7 @@
 #include "SINQAxis.h"
 
 class pmacController;
+class SeleneController;
 
 class pmacAxis : public SINQAxis
 {
@@ -76,4 +80,49 @@ class pmacHRPTAxis : public pmacAxis
   
 };
 
+class SeleneAxis : public pmacAxis
+{
+
+ public: 
+ SeleneAxis(SeleneController *pController, int axisNo, double limitTarget) : pmacAxis((pmacController *)pController,axisNo) 
+    {
+      this->limitTarget = limitTarget;
+    };
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus setPosition(double position);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+
+ protected:
+  friend class SeleneController;
+  friend class pmacController;
+
+ private:
+  double limitTarget;
+
+};
+
+/*
+  Yet another special set of motors for the Selene Guide at AMOR. Each segment can be lifted or tilted. This is 
+  two motors. One acts as a slave and only writes a new target, the other also sets a new target and sends the 
+  actual movement command. Both motors are coordianted in the motor controller in order to avoid tension on 
+  the guide elements. This gaves rise to the function code LIFTSLAVE and LIFTMASTER.
+
+  In another mode the whole guide can be lifted or tilted. Then motor 1 and 6 get new values and one of them 
+  sends the drive command. This causes all 6 motors to drive synchronously to their new targets. This is 
+  implemented through the LIFTSEGMENT function code. 
+
+  Mark Koennecke, February 2020 
+
+ */
+class LiftAxis : public pmacAxis
+{
+ public:
+ LiftAxis(pmacController *pController, int axisNo) : pmacAxis((pmacController *)pController,axisNo) {};
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus stop(double acceleration);
+ private:
+  int waitStart;
+};
+
 #endif /* pmacAxis_H */

sinqEPICSApp/src/pmacController.cpp

@@ -39,6 +39,7 @@ using std::endl;
 #include <iocsh.h>
 #include <drvSup.h>
 #include <registryFunction.h>
+#include <errlog.h>
 
 #include "asynOctetSyncIO.h"
 
@@ -130,6 +131,8 @@ const epicsUInt32 pmacController::PMAX_AXIS_GENERAL_PROB2 = (PMAC_STATUS2_DESIRE
 extern "C" {
   asynStatus pmacCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
 					 int numAxes, int movingPollPeriod, int idlePollPeriod);
+  asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
+					 int numAxes, int movingPollPeriod, int idlePollPeriod);
   
   asynStatus pmacCreateAxis(const char *pmacName, int axis);
   asynStatus pmacCreateAxis(const char *pmacName, int numAxis);
@@ -137,8 +140,8 @@ extern "C" {
 }
 
 pmacController::pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
-			       int numAxes, double movingPollPeriod, double idlePollPeriod)
+			       int numAxes, double movingPollPeriod, double idlePollPeriod, const int& extraParams)
-  : SINQController(portName, lowLevelPortName, numAxes+1)
+  : SINQController(portName, lowLevelPortName, numAxes+1, extraParams)
 {
   static const char *functionName = "pmacController::pmacController";
 
@@ -154,7 +157,7 @@ pmacController::pmacController(const char *portName, const char *lowLevelPortNam
   createParam(PMAC_C_CommsErrorString,         asynParamInt32, &PMAC_C_CommsError_);
 
   // Connect our Asyn user to the low level port that is a parameter to this constructor
-  if (lowLevelPortConnect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, "\006", "\r") != asynSuccess) {
+  if (lowLevelPortConnect(lowLevelPortName, lowLevelPortAddress, &lowLevelPortUser_, "\006", (char *)"\r") != asynSuccess) {
     printf("%s: Failed to connect to low level asynOctetSyncIO port %s\n", functionName, lowLevelPortName);
         setIntegerParam(PMAC_C_CommsError_, 1);
   } else {
@@ -344,8 +347,6 @@ asynStatus pmacController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
   pmacAxis *pAxis = NULL;
   char command[64] = {0};
   char response[64] = {0};
-  double encRatio = 1.0;
-  epicsInt32 encposition = 0;
   char message[132];
 	
   static const char *functionName = "pmacController::writeFloat64";
@@ -532,6 +533,31 @@ asynStatus pmacCreateController(const char *portName, const char *lowLevelPortNa
     return asynSuccess;
 }
 
+asynStatus SeleneCreateController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, 
+				int numAxes, int movingPollPeriod, int idlePollPeriod)
+{
+
+    SeleneController *ppmacController
+      = new SeleneController(portName, lowLevelPortName, lowLevelPortAddress, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
+    ppmacController = NULL;
+
+    return asynSuccess;
+}
+
+
+  SeleneController::SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+				     int numAxes, double movingPollPeriod, double idlePollPeriod) : pmacController(portName,
+														   lowLevelPortName,
+														   lowLevelPortAddress,
+														   numAxes,
+														   movingPollPeriod,
+														   idlePollPeriod, 3) {
+    static const char *functionName = "seleneController::seleneController";
+    createParam(MotorSetPositionString,                asynParamFloat64,         &setMotorPosition_);
+    callParamCallbacks();
+  }
+
+  
 /**
  * C wrapper for the pmacAxis constructor.
  * See pmacAxis::pmacAxis.
@@ -585,6 +611,61 @@ asynStatus pmacCreateHRPTAxis(const char *pmacName,         /* specify which con
   return asynSuccess;
 }
 
+/**
+ * C wrapper for the SeleneAxis constructor.
+ * See SeleneAxis::SeleneAxis.
+ *
+ */
+asynStatus SeleneCreateAxis(const char *pmacName,         /* specify which controller by port name */
+			    int axis,        /* axis number (start from 1). */
+                            double limitTarget)
+{
+  SeleneController *pC;
+  SeleneAxis *pAxis;
+
+  static const char *functionName = "SeleneCreateAxis";
+
+  pC = (SeleneController*) findAsynPortDriver(pmacName);
+  if (!pC) {
+    printf("%s:%s: Error port %s not found\n",
+           driverName, functionName, pmacName);
+    return asynError;
+  }
+  
+  pC->lock();
+  pAxis = new SeleneAxis(pC, axis, limitTarget);
+  pAxis = NULL;
+  pC->unlock();
+  return asynSuccess;
+}
+
+/**
+ * C wrapper for the Selene LiftAxis constructor.
+ * See LiftAxis::LiftAxis.
+ *
+ */
+asynStatus LiftCreateAxis(const char *pmacName,         /* specify which controller by port name */
+			  int axis)        /* axis number (start from 1). */
+{
+  pmacController *pC;
+  LiftAxis *pAxis;
+
+  static const char *functionName = "LiftCreateAxis";
+
+  pC = (pmacController*) findAsynPortDriver(pmacName);
+  if (!pC) {
+    printf("%s:%s: Error port %s not found\n",
+           driverName, functionName, pmacName);
+    return asynError;
+  }
+  
+  pC->lock();
+  pAxis = new LiftAxis(pC, axis);
+  pAxis = NULL;
+  pC->unlock();
+  return asynSuccess;
+}
+
 /**
  * C Wrapper function for pmacHRPTAxis constructor.
  * See pmacAxis::pmacAxis.
@@ -617,6 +698,67 @@ asynStatus pmacCreateAxes(const char *pmacName,
   return asynSuccess;
 }
 
+
+
+/*================================ SeleneController ===============================================*/
+
+asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
+{
+  int function = pasynUser->reason;
+  asynStatus status = asynError;
+  SeleneAxis *pAxis = NULL;
+  char command[64] = {0};
+  char response[64] = {0};
+  char message[132];
+	
+  static const char *functionName = "SeleneController::writeFloat64";
+
+  sprintf(message,"%s, reason %d",  functionName, function);
+
+  pAxis = (SeleneAxis *)this->getAxis(pasynUser);
+  if (!pAxis) {
+    return asynError;
+  }
+
+
+  /* Set the parameter and readback in the parameter library. */
+  status = pAxis->setDoubleParam(function, value);
+
+  // TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
+  if (function == motorLowLimit_) {
+    sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
+	      "%s: Setting low limit on controller %s, axis %d to %f\n",
+	      functionName, portName, pAxis->axisNo_, value);
+    errlogPrintf("Setting low limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
+  } else if (function == motorHighLimit_) {
+    sprintf(command, "Q%d53=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
+	      "%s: Setting high limit on controller %s, axis %d to %f\n",
+	      functionName, portName, pAxis->axisNo_, value);
+    errlogPrintf("Setting high limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
+  } else if(function == setMotorPosition_){
+    snprintf(command,sizeof(command),"Q%d59=%f", pAxis->axisNo_, value);
+    asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
+	      "%s: Defining position of axis%d to %f\n",
+	      functionName, pAxis->axisNo_, value);
+    errlogPrintf("Defining position of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
+  }
+
+  //Execute the command.
+  if (command[0] != 0 && status == asynSuccess) {
+    status = lowLevelWriteRead(pAxis->axisNo_,command, response);
+  }
+
+  //Call base class method
+  //This will handle callCallbacks even if the function was handled here.
+  status = asynMotorController::writeFloat64(pasynUser, value);
+
+  return status;
+
+}
+
+
 /* Code for iocsh registration */
 
 #ifdef vxWorks
@@ -641,6 +783,12 @@ static void configpmacCreateControllerCallFunc(const iocshArgBuf *args)
   pmacCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
 }
 
+static const iocshFuncDef configSeleneCreateController = {"SeleneCreateController", 6, pmacCreateControllerArgs};
+static void configSeleneCreateControllerCallFunc(const iocshArgBuf *args)
+{
+  SeleneCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
+}
+
 
 /* pmacCreateAxis */
 static const iocshArg pmacCreateAxisArg0 = {"Controller port name", iocshArgString};
@@ -666,6 +814,34 @@ static void configpmacHRPTAxisCallFunc(const iocshArgBuf *args)
   pmacCreateHRPTAxis(args[0].sval, args[1].ival);
 }
 
+
+/* SeleneCreateAxis */
+static const iocshArg SeleneCreateAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg SeleneCreateAxisArg1 = {"Axis number", iocshArgInt};
+static const iocshArg SeleneCreateAxisArg2 = {"limitTraget", iocshArgDouble};
+  static const iocshArg * const SeleneCreateAxisArgs[] = {&SeleneCreateAxisArg0,
+							  &SeleneCreateAxisArg1,
+                                                          &SeleneCreateAxisArg2};
+static const iocshFuncDef configSeleneCreateAxis = {"SeleneCreateAxis", 3, SeleneCreateAxisArgs};
+
+static void configSeleneCreateAxisCallFunc(const iocshArgBuf *args)
+{
+  SeleneCreateAxis(args[0].sval, args[1].ival,args[2].dval);
+}
+
+/* LiftCreateAxis */
+static const iocshArg LiftCreateAxisArg0 = {"Controller port name", iocshArgString};
+static const iocshArg LiftCreateAxisArg1 = {"Axis number", iocshArgInt};
+static const iocshArg * const LiftCreateAxisArgs[] = {&LiftCreateAxisArg0,
+                                                     &LiftCreateAxisArg1};
+static const iocshFuncDef configLiftAxis = {"LiftCreateAxis", 2, LiftCreateAxisArgs};
+
+static void configLiftAxisCallFunc(const iocshArgBuf *args)
+{
+  LiftCreateAxis(args[0].sval, args[1].ival);
+}
+
+
 /* pmacCreateAxes */
 static const iocshArg pmacCreateAxesArg0 = {"Controller port name", iocshArgString};
 static const iocshArg pmacCreateAxesArg1 = {"Num Axes", iocshArgInt};
@@ -683,8 +859,11 @@ static void configpmacAxesCallFunc(const iocshArgBuf *args)
 static void pmacControllerRegister(void)
 {
   iocshRegister(&configpmacCreateController,   configpmacCreateControllerCallFunc);
+  iocshRegister(&configSeleneCreateController, configSeleneCreateControllerCallFunc);
   iocshRegister(&configpmacAxis,               configpmacAxisCallFunc);
   iocshRegister(&configpmacHRPTAxis,           configpmacHRPTAxisCallFunc);
+  iocshRegister(&configSeleneCreateAxis,       configSeleneCreateAxisCallFunc);
+  iocshRegister(&configLiftAxis,               configLiftAxisCallFunc);
   iocshRegister(&configpmacAxes,               configpmacAxesCallFunc);
 }
 epicsExportRegistrar(pmacControllerRegister);
@@ -693,3 +872,4 @@ epicsExportRegistrar(pmacControllerRegister);
 
 } // extern "C"
 
+

sinqEPICSApp/src/pmacController.h

@@ -26,8 +26,8 @@
 class pmacController : public SINQController {
 
  public:
-  pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
+ pmacController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress, int numAxes, double movingPollPeriod, 
-		 double idlePollPeriod);
+		 double idlePollPeriod, const int& extraParams=2);
 
   virtual ~pmacController();
 
@@ -49,13 +49,13 @@ class pmacController : public SINQController {
   int PMAC_C_GlobalStatus_;
   int PMAC_C_CommsError_;
   #define LAST_PMAC_PARAM PMAC_C_CommsError__
+  void debugFlow(const char *message);
+  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response);
 
  private:
   asynUser* lowLevelPortUser_;
   epicsUInt32 debugFlag_;
-  asynStatus lowLevelWriteRead(int axisNo, const char *command, char *response);
   int lowLevelPortConnect(const char *port, int addr, asynUser **ppasynUser, char *inputEos, char *outputEos);
-  void debugFlow(const char *message);
 
   //static class data members
 
@@ -137,9 +137,31 @@ class pmacController : public SINQController {
 
   friend class pmacAxis;
   friend class pmacHRPTAxis;
-
+  friend class SeleneAxis;
+  friend class LiftAxis;
 };
 
 #define NUM_PMAC_PARAMS (&LAST_PMAC_PARAM - &FIRST_PMAC_PARAM + 1)
 
+#define MotorSetPositionString                "SET_MOTOR_POSITION"
+
+class SeleneController : public pmacController {
+ public:
+  SeleneController(const char *portName, const char *lowLevelPortName, int lowLevelPortAddress,
+  		   int numAxes, double movingPollPeriod, double idlePollPeriod);
+  
+  ~SeleneController(void) { }
+  
+  // overloaded because we have a different command to set the limits
+  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value); 
+
+  friend class SeleneAxis;
+  friend class pmacAxis;
+
+ protected:
+  int setMotorPosition_;
+    
+};
+
+
 #endif /* pmacController_H */