Change sz count rate, remove obsolete code and do some cleaning

r1782 | dcl | 2007-04-02 15:02:21 +1000 (Mon, 02 Apr 2007) | 2 lines

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

@@ -1,5 +1,5 @@
-# $Revision: 1.5 $
+# $Revision: 1.6 $
-# $Date: 2007-03-30 08:44:13 $
+# $Date: 2007-04-02 05:02:21 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: dcl $
 
@@ -42,6 +42,7 @@ set dz_home 7805000
 
 #Measured or computed step rate for sz (Sample Raise)
 set szStepRate -116500
+set szCountRate [expr -(8192.0/5.0/0.932)]
 
 #Measured or computed slit motor steps per millimetre
 # 125 steps * 161:1 gears = 20125
@@ -360,7 +361,7 @@ Motor sz DMC2280 [params \
   stepsPerX $szStepRate\
   absEnc 1\
   absEncHome $sz_home\
-  cntsPerX [expr -8192/5]]
+  cntsPerX $szCountRate]
 sz softlowerlim 0
 sz softupperlim 300.5
 sz home 0
@@ -413,42 +414,6 @@ dz home 0
 ############################
 #
 
-# Slit 1, lower
-Motor ss1d DMC2280 [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
-  axis D\
-  units mm\
-  hardlowerlim [expr $ss1d_LoRange]\
-  hardupperlim [expr $ss1d_HiRange]\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $slitStepRate\
-  motorHome $ss1d_Home]
-ss1d softlowerlim $ss1d_LoRange
-ss1d softupperlim $ss1d_HiRange
-ss1d home 0
-
-# Slit 1, upper
-Motor ss1u DMC2280 [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
-  axis C\
-  units mm\
-  hardlowerlim [expr $ss1u_LoRange]\
-  hardupperlim [expr $ss1u_HiRange]\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX -$slitStepRate\
-  motorHome $ss1u_Home]
-ss1u softlowerlim $ss1u_LoRange
-ss1u softupperlim $ss1u_HiRange
-ss1u home 0
-
 # Slit 1, left
 Motor ss1l DMC2280 [params \
   multichan mc3\
@@ -456,8 +421,8 @@ Motor ss1l DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis A\
   units mm\
-  hardlowerlim [expr $ss1l_LoRange]\
+  hardlowerlim $ss1l_LoRange\
-  hardupperlim [expr $ss1l_HiRange]\
+  hardupperlim $ss1l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -474,8 +439,8 @@ Motor ss1r DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis B\
   units mm\
-  hardlowerlim [expr $ss1r_LoRange]\
+  hardlowerlim $ss1r_LoRange\
-  hardupperlim [expr $ss1r_HiRange]\
+  hardupperlim $ss1r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -485,41 +450,41 @@ ss1r softlowerlim $ss1r_LoRange
 ss1r softupperlim $ss1r_HiRange
 ss1r home 0
 
-# Slit 2, lower
+# Slit 1, upper
-Motor ss2d DMC2280 [params \
+Motor ss1u DMC2280 [params \
   multichan mc3\
   host $dmc2280_controller3(host)\
   port $dmc2280_controller3(port)\
-  axis H\
+  axis C\
   units mm\
-  hardlowerlim [expr $ss2d_LoRange]\
+  hardlowerlim $ss1u_LoRange\
-  hardupperlim [expr $ss2d_HiRange]\
+  hardupperlim $ss1u_HiRange\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-  stepsPerX $slitStepRate\
-  motorHome $ss2d_Home]
-ss2d softlowerlim $ss2d_LoRange
-ss2d softupperlim $ss2d_HiRange
-ss2d home 0
-
-# Slit 2, upper
-Motor ss2u DMC2280 [params \
-  multichan mc3\
-  host $dmc2280_controller3(host)\
-  port $dmc2280_controller3(port)\
-  axis G\
-  units mm\
-  hardlowerlim [expr $ss2u_LoRange]\
-  hardupperlim [expr $ss2u_HiRange]\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
   stepsPerX -$slitStepRate\
-  motorHome $ss2u_Home]
+  motorHome $ss1u_Home]
-ss2u softlowerlim $ss2u_LoRange
+ss1u softlowerlim $ss1u_LoRange
-ss2u softupperlim $ss2u_HiRange
+ss1u softupperlim $ss1u_HiRange
-ss2u home 0
+ss1u home 0
+
+# Slit 1, lower
+Motor ss1d DMC2280 [params \
+  multichan mc3\
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis D\
+  units mm\
+  hardlowerlim $ss1d_LoRange\
+  hardupperlim $ss1d_HiRange\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX $slitStepRate\
+  motorHome $ss1d_Home]
+ss1d softlowerlim $ss1d_LoRange
+ss1d softupperlim $ss1d_HiRange
+ss1d home 0
 
 # Slit 2, left
 Motor ss2l DMC2280 [params \
@@ -528,8 +493,8 @@ Motor ss2l DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis E\
   units mm\
-  hardlowerlim [expr $ss2l_LoRange]\
+  hardlowerlim $ss2l_LoRange\
-  hardupperlim [expr $ss2l_HiRange]\
+  hardupperlim $ss2l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -546,8 +511,8 @@ Motor ss2r DMC2280 [params \
   port $dmc2280_controller3(port)\
   axis F\
   units mm\
-  hardlowerlim [expr $ss2r_LoRange]\
+  hardlowerlim $ss2r_LoRange\
-  hardupperlim [expr $ss2r_HiRange]\
+  hardupperlim $ss2r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -557,6 +522,49 @@ ss2r softlowerlim $ss2r_LoRange
 ss2r softupperlim $ss2r_HiRange
 ss2r home 0
 
+# Slit 2, upper
+Motor ss2u DMC2280 [params \
+  multichan mc3\
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis G\
+  units mm\
+  hardlowerlim $ss2u_LoRange\
+  hardupperlim $ss2u_HiRange\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX -$slitStepRate\
+  motorHome $ss2u_Home]
+ss2u softlowerlim $ss2u_LoRange
+ss2u softupperlim $ss2u_HiRange
+ss2u home 0
+
+# Slit 2, lower
+Motor ss2d DMC2280 [params \
+  multichan mc3\
+  host $dmc2280_controller3(host)\
+  port $dmc2280_controller3(port)\
+  axis H\
+  units mm\
+  hardlowerlim $ss2d_LoRange\
+  hardupperlim $ss2d_HiRange\
+  maxSpeed 1\
+  maxAccel 1\
+  maxDecel 1\
+  stepsPerX $slitStepRate\
+  motorHome $ss2d_Home]
+ss2d softlowerlim $ss2d_LoRange
+ss2d softupperlim $ss2d_HiRange
+ss2d home 0
+
+############################
+# Motor Controller 4
+# Motor Controller 4
+# Motor Controller 4
+############################
+#
+
 # Slit 3, lower
 Motor ss3d DMC2280 [params \
   multichan mc4\
@@ -564,8 +572,8 @@ Motor ss3d DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis A\
   units mm\
-  hardlowerlim [expr $ss3d_LoRange]\
+  hardlowerlim $ss3d_LoRange\
-  hardupperlim [expr $ss3d_HiRange]\
+  hardupperlim $ss3d_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -582,8 +590,8 @@ Motor ss3u DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis B\
   units mm\
-  hardlowerlim [expr $ss3u_LoRange]\
+  hardlowerlim $ss3u_LoRange\
-  hardupperlim [expr $ss3u_HiRange]\
+  hardupperlim $ss3u_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -600,8 +608,8 @@ Motor ss3l DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis C\
   units mm\
-  hardlowerlim [expr $ss3l_LoRange]\
+  hardlowerlim $ss3l_LoRange\
-  hardupperlim [expr $ss3l_HiRange]\
+  hardupperlim $ss3l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -618,8 +626,8 @@ Motor ss3r DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis D\
   units mm\
-  hardlowerlim [expr $ss3r_LoRange]\
+  hardlowerlim $ss3r_LoRange\
-  hardupperlim [expr $ss3r_HiRange]\
+  hardupperlim $ss3r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -636,8 +644,8 @@ Motor ss4d DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis E\
   units mm\
-  hardlowerlim [expr $ss4d_LoRange]\
+  hardlowerlim $ss4d_LoRange\
-  hardupperlim [expr $ss4d_HiRange]\
+  hardupperlim $ss4d_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -654,8 +662,8 @@ Motor ss4u DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis F\
   units mm\
-  hardlowerlim [expr $ss4u_LoRange]\
+  hardlowerlim $ss4u_LoRange\
-  hardupperlim [expr $ss4u_HiRange]\
+  hardupperlim $ss4u_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -672,8 +680,8 @@ Motor ss4l DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis G\
   units mm\
-  hardlowerlim [expr $ss4l_LoRange]\
+  hardlowerlim $ss4l_LoRange\
-  hardupperlim [expr $ss4l_HiRange]\
+  hardupperlim $ss4l_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -690,8 +698,8 @@ Motor ss4r DMC2280 [params \
   port $dmc2280_controller4(port)\
   axis H\
   units mm\
-  hardlowerlim [expr $ss4r_LoRange]\
+  hardlowerlim $ss4r_LoRange\
-  hardupperlim [expr $ss4r_HiRange]\
+  hardupperlim $ss4r_HiRange\
   maxSpeed 1\
   maxAccel 1\
   maxDecel 1\
@@ -746,7 +754,6 @@ ss4r home 0
 #     return [lindex $l 1]
 #}
 
-if {1} {
 proc get_gap_width {m1 m2} {
   return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
 }
@@ -807,363 +814,5 @@ make_gap_motors ss3hg ss3ho ss3r ss3l
 
 make_gap_motors ss4vg ss4vo ss4u ss4d
 make_gap_motors ss4hg ss4ho ss4r ss4l
-} else {
-#--------------------------------------------------------
-proc ss1widthscript {val} {
-  set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss1r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss1l]] + $diff/2]
-  return "ss1r=$newD1R,ss1l=$newD1L"
-}
-publish ss1widthscript user
 
-#-------------------------------------------------------
+# END MOTOR CONFIGURATION
-proc ss1readwidth {} {
-  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
-}
-publish ss1readwidth user
-MakeConfigurableMotor ss1hg
-ss1hg drivescript ss1widthscript
-ss1hg readscript ss1readwidth
-
-#--------------------------------------------------------
-proc ss1horoffsetscript {val} {
-  set SR [SplitReply [ss1r]]
-  set SL [SplitReply [ss1l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss1r=$newD1R,ss1l=$newD1L"
-}
-publish ss1horoffsetscript user
-
-#-------------------------------------------------------
-proc ss1readhoroffset {} {
-  set SR [SplitReply [ss1r]]
-  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
-}
-publish ss1readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss1ho
-ss1ho drivescript ss1horoffsetscript
-ss1ho readscript ss1readhoroffset
-
-#-------------------------------------------------------
-proc ss1heightscript {val} {
-  set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss1d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss1u]] + $diff/2]
-  return "ss1d=$newD1B,ss1u=$newD1T"
-}
-publish ss1heightscript user
-
-#-------------------------------------------------------
-proc ss1readheight {} {
-  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-}
-publish ss1readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss1vg
-ss1vg drivescript ss1heightscript
-ss1vg readscript ss1readheight
-
-#--------------------------------------------------------
-proc ss1vertoffsetscript {val} {
-  set SU [SplitReply [ss1u]]
-  set SD [SplitReply [ss1d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss1u=$newD1U,ss1d=$newD1D"
-}
-publish ss1vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss1readvertoffset {} {
-  set SU [SplitReply [ss1u]]
-  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
-}
-publish ss1readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss1vo
-ss1vo drivescript ss1vertoffsetscript
-ss1vo readscript ss1readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc ss2widthscript {val} {
-  set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss2r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss2l]] + $diff/2]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2widthscript user
-
-#-------------------------------------------------------
-proc ss2readwidth {} {
-  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-}
-publish ss2readwidth user
-MakeConfigurableMotor ss2hg
-ss2hg drivescript ss2widthscript
-ss2hg readscript ss2readwidth
-
-#--------------------------------------------------------
-proc ss2horoffsetscript {val} {
-  set SR [SplitReply [ss2r]]
-  set SL [SplitReply [ss2l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2horoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readhoroffset {} {
-  set SR [SplitReply [ss2r]]
-  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
-}
-publish ss2readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2ho
-ss2ho drivescript ss2horoffsetscript
-ss2ho readscript ss2readhoroffset
-
-#--------------------------------------------------------
-#-----------------------------------------------------
-proc ss2heightscript {val} {
-  set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss2d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss2u]] + $diff/2]
-  return "ss2d=$newD1B,ss2u=$newD1T"
-}
-publish ss2heightscript user
-
-#-------------------------------------------------------
-proc ss2readheight {} {
-  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-}
-publish ss2readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss2vg
-ss2vg drivescript ss2heightscript
-ss2vg readscript ss2readheight
-
-#--------------------------------------------------------
-proc ss2vertoffsetscript {val} {
-  set SU [SplitReply [ss2u]]
-  set SD [SplitReply [ss2d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss2u=$newD1U,ss2d=$newD1D"
-}
-publish ss2vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readvertoffset {} {
-  set SU [SplitReply [ss2u]]
-  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
-}
-publish ss2readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2vo
-ss2vo drivescript ss2vertoffsetscript
-ss2vo readscript ss2readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc ss3widthscript {val} {
-  set currentWidth [expr [SplitReply [ss3r]] + [SplitReply [ss3l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss3r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss3l]] + $diff/2]
-  return "ss3r=$newD1R,ss3l=$newD1L"
-}
-publish ss3widthscript user
-
-#-------------------------------------------------------
-proc ss3readwidth {} {
-  return [expr [SplitReply [ss3r]] + [SplitReply [ss3l]]]
-}
-publish ss3readwidth user
-MakeConfigurableMotor ss3hg
-ss3hg drivescript ss3widthscript
-ss3hg readscript ss3readwidth
-
-#-----------------------------------------------------
-proc ss3heightscript {val} {
-  set currentWidth [expr [SplitReply [ss3u]] + [SplitReply [ss3d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss3d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss3u]] + $diff/2]
-  return "ss3d=$newD1B,ss3u=$newD1T"
-}
-publish ss3heightscript user
-
-#-------------------------------------------------------
-proc ss3readheight {} {
-  return [expr [SplitReply [ss3u]] + [SplitReply [ss3d]]]
-}
-publish ss3readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss3vg
-ss3vg drivescript ss3heightscript
-ss3vg readscript ss3readheight
-
-#--------------------------------------------------------
-proc ss3horoffsetscript {val} {
-  set SR [SplitReply [ss3r]]
-  set SL [SplitReply [ss3l]]
-  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentoffset]
-  set newd1r [expr $SR + $diff]
-  set newd1l [expr $SL - $diff]
-  return "ss3r=$newd1r,ss3l=$newd1l"
-}
-publish ss3horoffsetscript user
-
-#-------------------------------------------------------
-proc ss3readhoroffset {} {
-  set SR [SplitReply [ss3r]]
-  return [ expr $SR - ($SR + [SplitReply [ss3l]])/2.0 ]
-}
-publish ss3readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss3ho
-ss3ho drivescript ss3horoffsetscript
-ss3ho readscript ss3readhoroffset
-
-#--------------------------------------------------------
-proc ss3vertoffsetscript {val} {
-  set SU [SplitReply [ss3u]]
-  set SD [SplitReply [ss3d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss3u=$newD1U,ss3d=$newD1D"
-}
-publish ss3vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss3readvertoffset {} {
-  set SU [SplitReply [ss3u]]
-  return [ expr $SU - ($SU + [SplitReply [ss3d]])/2.0 ]
-}
-publish ss3readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss3vo
-ss3vo drivescript ss3vertoffsetscript
-ss3vo readscript ss3readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc ss4widthscript {val} {
-  set currentWidth [expr [SplitReply [ss4r]] + [SplitReply [ss4l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss4r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss4l]] + $diff/2]
-  return "ss4r=$newD1R,ss4l=$newD1L"
-}
-publish ss4widthscript user
-
-#-------------------------------------------------------
-proc ss4readwidth {} {
-  return [expr [SplitReply [ss4r]] + [SplitReply [ss4l]]]
-}
-publish ss4readwidth user
-MakeConfigurableMotor ss4hg
-ss4hg drivescript ss4widthscript
-ss4hg readscript ss4readwidth
-
-#-----------------------------------------------------
-proc ss4heightscript {val} {
-  set currentWidth [expr [SplitReply [ss4u]] + [SplitReply [ss4d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss4d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss4u]] + $diff/2]
-  return "ss4d=$newD1B,ss4u=$newD1T"
-}
-publish ss4heightscript user
-
-#-------------------------------------------------------
-proc ss4readheight {} {
-  return [expr [SplitReply [ss4u]] + [SplitReply [ss4d]]]
-}
-publish ss4readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss4vg
-ss4vg drivescript ss4heightscript
-ss4vg readscript ss4readheight
-
-#--------------------------------------------------------
-proc ss4horoffsetscript {val} {
-  set SR [SplitReply [ss4r]]
-  set SL [SplitReply [ss4l]]
-  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentoffset]
-  set newd1r [expr $SR + $diff]
-  set newd1l [expr $SL - $diff]
-  return "ss4r=$newd1r,ss4l=$newd1l"
-}
-publish ss4horoffsetscript user
-
-#-------------------------------------------------------
-proc ss4readhoroffset {} {
-  set SR [SplitReply [ss4r]]
-  return [ expr $SR - ($SR + [SplitReply [ss4l]])/2.0 ]
-}
-publish ss4readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss4ho
-ss4ho drivescript ss4horoffsetscript
-ss4ho readscript ss4readhoroffset
-
-#--------------------------------------------------------
-proc ss4vertoffsetscript {val} {
-  set SU [SplitReply [ss4u]]
-  set SD [SplitReply [ss4d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss4u=$newD1U,ss4d=$newD1D"
-}
-publish ss4vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss4readvertoffset {} {
-  set SU [SplitReply [ss4u]]
-  return [ expr $SU - ($SU + [SplitReply [ss4d]])/2.0 ]
-}
-publish ss4readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss4vo
-ss4vo drivescript ss4vertoffsetscript
-ss4vo readscript ss4readvertoffset
-}