# pmacv3

## Overview

This is a driver for the pmacV3 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 pmac motor controllers. To read their manual, run the scripts without any arguments.
- writeRead.py: Allows sending commands to and receiving commands from a pmac controller over an ethernet connection.
- analyzeTcpDump.py: Parse the TCP communication between an IOC and a MCU and format it into a dictionary. "demo.py" shows how this data can be easily visualized for analysis.


## Developer guide

### Usage in IOC shell

pmacv3 exposes the following IOC shell functions (all in pmacv3Controller.cpp):
- `pmacv3Controller`: Create a new controller object.
- `pmacv3Axis`: Create a new axis object.
These functions are parametrized as follows:
```
pmacv3Controller(
    "$(NAME)", # Name of the MCU, e.g. mcu1. This parameter should be provided by an environment variable.
    "$(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
    );
```
```
pmacv3Axis(
    "$(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.