From 2ea0e042eed42f4b85b563fc84548b15159cc774 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Tue, 23 Apr 2013 10:29:41 +1000
Subject: [PATCH] Implements run and drive wrappers which set allowed target
 values when driving the fermi motors.

---
 .../pelican/pelican_configuration.tcl         | 36 +++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/site_ansto/instrument/pelican/pelican_configuration.tcl b/site_ansto/instrument/pelican/pelican_configuration.tcl
index 7b97c07a..68630464 100644
--- a/site_ansto/instrument/pelican/pelican_configuration.tcl
+++ b/site_ansto/instrument/pelican/pelican_configuration.tcl
@@ -1,5 +1,9 @@
 # Author: Jing Chen (jgn@ansto.gov.au)
 
+# Ferdi Franceschini: April 2013
+# Added run and drive wrappers which set the target speed to an allowed speed
+# for fermi motors.
+
 # Required by server_config.tcl 
 VarMake Instrument Text Internal
 Instrument pelican 
@@ -35,6 +39,38 @@ fileeval $cfPath(anticollider)/anticollider.tcl
 fileeval $cfPath(chopper)/sct_fermichopper.tcl
 fileeval $cfPath(chopper)/fermimot.tcl
 
+proc mkrunargs {args} {
+  foreach {mot speed} $args {
+    lappend runargs $mot
+    if {$mot == "mchs" || $mot == "schs"} {
+      set refspeed [SplitReply [$mot refspeed]]
+      set sprat [expr {abs($speed)/$refspeed}]
+      set mult [::chopper::findSpeedMult $sprat]
+      set target [expr $mult * $refspeed]
+      if {$speed < 0} {
+        set target -$target
+      }
+      lappend runargs [expr round($target)]
+    } else {
+      lappend runargs $speed
+    }
+  }
+  return "$runargs"
+}
+
+proc run {args} {
+  set runargs [eval "mkrunargs $args"]
+  eval "sicsrun $runargs"
+}
+
+proc drive {args} {
+  set runargs [eval "mkrunargs $args"]
+  eval "sicsdrive $runargs"
+}
+
+publish run user
+publish drive user
+
 source gumxml.tcl
 
 ::utility::mkVar ::anticollider::protect_detector text manager protect_detector false detector true false