Make sample stages configurable and add Oxford magnet sample stick motor as an option.

site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl

@@ -134,9 +134,10 @@ switch $axis_config {
     fileeval $cfPath(motors)/small_omega_config.tcl
   }
   3 {
-  # Rename the sample stage som to somss because
-  # som now controls the magnet sample stick
-    set sample_stage_rotate "somss"
+    set sample_stage_rotate "som"
+    set magmot "msom"
+    set magmot_aq "mc2"
+    set magmot_axis "D"
     fileeval $cfPath(motors)/magnet_configuration.tcl
   }
 }

site_ansto/instrument/hrpd/config/motors/small_omega_config.tcl

@@ -0,0 +1,91 @@
+# This must be loaded by motor_configuration.tcl
+
+set sphi_Home 7937974
+set schi_Home 7585956
+set sy_Home 7557524
+set sx_Home 7557304
+
+# Sample Tilt 1, upper, phi
+Motor sphi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis A\
+  units degrees\
+  hardlowerlim -360\
+  hardupperlim 360\
+  maxSpeed 3\
+  maxAccel 2\
+  maxDecel 2\
+  stepsPerX 25000\
+  absEnc 0\
+  absEncHome $sphi_Home\
+  cntsPerX -8192]
+setHomeandRange -motor sphi -home 0 -lowrange -360 -uprange 360
+sphi speed 2
+sphi movecount $move_count
+sphi precision 0.02
+sphi part sample
+sphi long_name phi
+
+# Sample Tilt 2, lower, chi
+Motor schi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis B\
+  units degrees\
+  hardlowerlim 75\
+  hardupperlim 105\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome $schi_Home\
+  cntsPerX 8192]
+setHomeandRange -motor schi -home 90 -lowrange 15 -uprange 15
+schi speed 1
+schi movecount $move_count
+schi precision 0.01
+schi part sample
+schi long_name chi
+
+# Sample Trans 1, upper, y
+Motor sy $motor_driver_type [params \
+  asyncqueue mc2\
+  axis C\
+  units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome $sy_Home\
+  cntsPerX 8192]
+setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
+sy speed 1
+sy movecount $move_count
+sy precision 0.01
+sy part sample
+sy long_name translate_y
+
+# Sample Trans2, lower, x
+Motor sx $motor_driver_type [params \
+  asyncqueue mc2\
+  axis D\
+  units mm\
+  hardlowerlim -20\
+  hardupperlim 20\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome $sx_Home\
+  cntsPerX -8192]
+setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
+sx speed 1
+sx movecount $move_count
+sx precision 0.01
+sx part sample
+sx long_name translate_x
+