EL734 motion controller

This repository contains the driver code and "default" Midas frontend for the EL734 motion controller (developed in-house at PSI).

Requirements

Requires a Midas installation with the environment variable MIDASSYS pointing to the built Midas artifacts and headers.

Build

Clone this repository, enter the cloned directory, and then build via CMake.

cmake -S "$(pwd)" -B <directory-to-build-in> -DBUILD_FRONTENDS=ON
cmake --build <directory-to-build-in> --clean-first -- -j8

Run

/build/driver/copley_stepnet_fe -e flame

Including in Custom Frontend

To include this driver in a custom frontend, you should ensure the environment variable MIDASSYS points to your system install and include a snippet in your CMakeLists.txt similar to the following:

# If the path to the el734 repository is outside of the frontend
# repository, you also need to provide a location for the el734
# artifacts as a second argument to `add_subdirectory`
# e.g. `./device/el734`
add_subdirectory(
    <path-to-el734-repository>
)

#                      Target Name       Frontend Name Event Id
default_el734_frontend(Sample_angle_scfe Sample_angle  7      )

default_el734_frontend(
  GPD_Positions_scfe # Target Name
  GPD_Positions      # Frontend Name
  90                 # Event ID
  el734_12MOT        # Non-default library version
  12                 # Non-default number of motor axes
)