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

site_ansto/instrument/config/motors/magnet_configuration.tcl

@@ -1,7 +1,6 @@
-set magmot "som"
 Motor $magmot $motor_driver_type [params \
-  asyncqueue mc2\
+  asyncqueue $magmot_aq\
-  axis D\
+  axis $magmot_axis\
   units degrees\
   hardlowerlim -1440\
   hardupperlim 1440\

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

@@ -143,7 +143,10 @@ switch $axis_config {
   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/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
+    set sample_stage_rotate "som"
-  # som now controls the magnet sample stick
+    set magmot "msom"
-    set sample_stage_rotate "somss"
+    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
+

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 \
+  Motor scor $motor_driver_type [params \
-  asyncqueue mc2\
+    asyncqueue mc2\
-  host mc2-pelican\
+    host mc2-pelican\
-  port pmc2-pelican\
+    port pmc2-pelican\
-  axis F\
+    axis F\
-  units degrees\
+    units degrees\
-  hardlowerlim 0\
+    hardlowerlim 0\
-  hardupperlim 360\
+    hardupperlim 360\
-  maxSpeed [expr 25000.0/$scorStepRate]\
+    maxSpeed [expr 25000.0/$scorStepRate]\
-  maxAccel [expr 25000.0/$scorStepRate]\
+    maxAccel [expr 25000.0/$scorStepRate]\
-  maxDecel [expr 25000.0/$scorStepRate]\
+    maxDecel [expr 25000.0/$scorStepRate]\
-  stepsPerX $scorStepRate\
+    stepsPerX $scorStepRate\
-  absEnc 1\
+    absEnc 1\
-  absEncHome $scor_Home\
+    absEncHome $scor_Home\
-  cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
+    cntsPerX -[expr { 8192.0 * 100.0 / 360.0 }]]
-scor part sample
+  scor part sample
-scor long_name scor
+  scor long_name scor
-scor softlowerlim 0
+  scor softlowerlim 0
-scor softupperlim 360
+  scor softupperlim 360
-scor home 180
+  scor home 180
+}
 
 ############################
 # Motor Controller 3