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

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

@@ -67,6 +67,40 @@ set gv1_Shut      33221600
 # hnotify messages to a reasonable level
 set move_count 100
 
+# CHOOSE HERE for sample stage configuration
+##########################################
+# Set axis_config as follows to use different axis configurations
+# 0: normal stage configuration
+# 1: Oxford magnet sample stick
+set axis_config 0
+
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set implementation [ dict get $::config_dict sample_stage implementation ]
+    if {$implementation == "normal_sample_stage"} {
+      set axis_config 0
+    } elseif {$implementation == "12tmagnet_sample_insert"} {
+      set axis_config 1
+    } else {
+      set axis_config 0
+    }
+  }
+}
+
+switch $axis_config {
+  0 {
+    set use_normal_config "true"
+  }
+  1 {
+    set magmot "mscor"
+    set magmot_aq "mc2"
+    set magmot_axis "F"
+    set use_normal_config "false"
+    fileeval $cfPath(motors)/magnet_configuration.tcl
+  }
+}
+
+
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -381,29 +415,31 @@ gom softlowerlim -15
 gom softupperlim 15
 gom home 0
 
+if {$use_normal_config == "true"} {
 # mc2: Sample rotation correction - 10 deg rotation
-set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
+  set scorStepRate [expr { 25000.0 * 100.0 / 360.0 }]
 
-Motor scor $motor_driver_type [params \
-  asyncqueue mc2\
-  host mc2-pelican\
-  port pmc2-pelican\
-  axis F\
-  units degrees\
-  hardlowerlim 0\
-  hardupperlim 360\
-  maxSpeed [expr 25000.0/$scorStepRate]\
-  maxAccel [expr 25000.0/$scorStepRate]\
-  maxDecel [expr 25000.0/$scorStepRate]\
-  stepsPerX $scorStepRate\
-  absEnc 1\
-  absEncHome $scor_Home\
-  cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
-scor part sample
-scor long_name scor
-scor softlowerlim 0
-scor softupperlim 360
-scor home 180
+  Motor scor $motor_driver_type [params \
+    asyncqueue mc2\
+    host mc2-pelican\
+    port pmc2-pelican\
+    axis F\
+    units degrees\
+    hardlowerlim 0\
+    hardupperlim 360\
+    maxSpeed [expr 25000.0/$scorStepRate]\
+    maxAccel [expr 25000.0/$scorStepRate]\
+    maxDecel [expr 25000.0/$scorStepRate]\
+    stepsPerX $scorStepRate\
+    absEnc 1\
+    absEncHome $scor_Home\
+    cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
+  scor part sample
+  scor long_name scor
+  scor softlowerlim 0
+  scor softupperlim 360
+  scor home 180
+}
 
 ############################
 # Motor Controller 3