From 3e11532bd0b46033ab0b0456be59b35680ff6d21 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Wed, 11 Mar 2015 14:21:30 +1100
Subject: [PATCH] my encoder limits swapped in Elec Eng spreadsheet.

---
 ...motion_control_commissioning_checklist.csv |   4 +-
 .../motors/generated_motor_configuration.tcl  | 104 +-----------------
 .../emu/config/motors/sicsmot_attlist.csv     |   4 +-
 3 files changed, 5 insertions(+), 107 deletions(-)

diff --git a/site_ansto/instrument/emu/config/motors/Emu_motion_control_commissioning_checklist.csv b/site_ansto/instrument/emu/config/motors/Emu_motion_control_commissioning_checklist.csv
index 76d6a68c..4a926912 100755
--- a/site_ansto/instrument/emu/config/motors/Emu_motion_control_commissioning_checklist.csv
+++ b/site_ansto/instrument/emu/config/motors/Emu_motion_control_commissioning_checklist.csv
@@ -59,12 +59,12 @@ my_description,Pre Mono Translation
 my_dflt_accel_steps,50000
 my_dflt_decel_steps,50000
 my_dflt_speed_steps,50000
-my_fwd_enc_lim,4275488
+my_fwd_enc_lim,4131464
 my_maxaccel,0.4
 my_maxdecel,0.4
 my_maxspeed,0.4
 my_mc,mc1
 my_part,instrument
-my_rev_enc_lim,4131464
+my_rev_enc_lim,4275488
 my_steps_per_x,125000
 my_units,mm
diff --git a/site_ansto/instrument/emu/config/motors/generated_motor_configuration.tcl b/site_ansto/instrument/emu/config/motors/generated_motor_configuration.tcl
index 8095d6d2..5922f73a 100644
--- a/site_ansto/instrument/emu/config/motors/generated_motor_configuration.tcl
+++ b/site_ansto/instrument/emu/config/motors/generated_motor_configuration.tcl
@@ -1,13 +1,11 @@
 #### SICS motor driver configuration ####
-# Generated by: ../../../util/genmotconf.tcl Emu_motion_control_commissioning_checklist.csv sicsmot_attlist.csv
+# Generated by: ../../../util/genmotconf.tcl Emu_motion_control_commissioning_checklist.csv
 # Generated from the following files,
 # file1: Emu_motion_control_commissioning_checklist.csv
-# file2: sicsmot_attlist.csv
 
 # Load motor driver configuration parameters
 set flist [list\
               {Emu_motion_control_commissioning_checklist.csv}\
-              {sicsmot_attlist.csv}\
           ]
 
 foreach fattfile $flist {
@@ -37,104 +35,4 @@ if {$sim_mode == false} {
   MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
 }
 
-# mchi configuration
-# Pre Mono Tilt
-# Axis number 1
-Motor mchi $motor_driver_type [params\
-  asyncqueue mc1\
-  axis A\
-  units $mchi_units\
-  hardlowerlim $mchi_rev_lim\
-  hardupperlim $mchi_fwd_lim\
-  maxSpeed $mchi_maxspeed\
-  maxAccel $mchi_maxaccel\
-  maxDecel $mchi_maxdecel\
-  stepsPerX $mchi_steps_per_x\
-  absEnc 1\
-  absEncHome $mchi_absenchome\
-  cntsPerX $mchi_cnts_per_x]
-mchi softlowerlim $mchi_rev_lim
-mchi softupperlim $mchi_fwd_lim
-mchi home $mchi_home
-mchi part $mchi_part
-mchi long_name mchi
-mchi speed $mchi_speed
-mchi accel $mchi_accel
-mchi decel $mchi_decel
-
-# mom configuration
-# Pre Mono Rotation
-# Axis number 9
-Motor mom $motor_driver_type [params\
-  asyncqueue mc2\
-  axis A\
-  units $mom_units\
-  hardlowerlim $mom_rev_lim\
-  hardupperlim $mom_fwd_lim\
-  maxSpeed $mom_maxspeed\
-  maxAccel $mom_maxaccel\
-  maxDecel $mom_maxdecel\
-  stepsPerX $mom_steps_per_x\
-  absEnc 1\
-  absEncHome $mom_absenchome\
-  cntsPerX $mom_cnts_per_x]
-mom softlowerlim $mom_rev_lim
-mom softupperlim $mom_fwd_lim
-mom home $mom_home
-mom part $mom_part
-mom long_name mom
-mom speed $mom_speed
-mom accel $mom_accel
-mom decel $mom_decel
-
-# mtth configuration
-# 2nd Reflector rotation
-# Axis number 14
-Motor mtth $motor_driver_type [params\
-  asyncqueue mc2\
-  axis F\
-  units $mtth_units\
-  hardlowerlim $mtth_rev_lim\
-  hardupperlim $mtth_fwd_lim\
-  maxSpeed $mtth_maxspeed\
-  maxAccel $mtth_maxaccel\
-  maxDecel $mtth_maxdecel\
-  stepsPerX $mtth_steps_per_x\
-  absEnc 1\
-  absEncHome $mtth_absenchome\
-  cntsPerX $mtth_cnts_per_x]
-mtth softlowerlim $mtth_rev_lim
-mtth softupperlim $mtth_fwd_lim
-mtth home $mtth_home
-mtth part $mtth_part
-mtth long_name mtth
-mtth speed $mtth_speed
-mtth accel $mtth_accel
-mtth decel $mtth_decel
-
-# my configuration
-# Pre Mono Translation
-# Axis number 2
-Motor my $motor_driver_type [params\
-  asyncqueue mc1\
-  axis B\
-  units $my_units\
-  hardlowerlim $my_rev_lim\
-  hardupperlim $my_fwd_lim\
-  maxSpeed $my_maxspeed\
-  maxAccel $my_maxaccel\
-  maxDecel $my_maxdecel\
-  stepsPerX $my_steps_per_x\
-  absEnc 1\
-  absEncHome $my_absenchome\
-  cntsPerX $my_cnts_per_x]
-my softlowerlim $my_rev_lim
-my softupperlim $my_fwd_lim
-my home $my_home
-my part $my_part
-my long_name my
-my speed $my_speed
-my accel $my_accel
-my decel $my_decel
-
 proc motor_set_sobj_attributes {} {}
diff --git a/site_ansto/instrument/emu/config/motors/sicsmot_attlist.csv b/site_ansto/instrument/emu/config/motors/sicsmot_attlist.csv
index 1c6ed202..753335e4 100644
--- a/site_ansto/instrument/emu/config/motors/sicsmot_attlist.csv
+++ b/site_ansto/instrument/emu/config/motors/sicsmot_attlist.csv
@@ -13,10 +13,10 @@ mtth_decel,0.0500
 mtth_fwd_lim,29.4670
 mtth_rev_lim,-3.4753
 mtth_speed,0.2000
-my_absenchome,4131464.0000
+my_absenchome,4275488.0000
 my_accel,0.4000
 my_decel,0.4000
-my_fwd_lim,-14.0635
+my_fwd_lim,14.0635
 my_home,0.0000
 my_rev_lim,0.0000
 my_speed,0.4000