From 349171e8ecc483b5cfb02289a1f9459cec25f8d9 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Fri, 17 Apr 2015 11:45:05 +1000
Subject: [PATCH 1/2] Minor changes from Taipan motor_config

---
 .../instrument/tas/config/motors/motor_configuration.tcl      | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index 0f027691..b60e16d4 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -479,7 +479,7 @@ Motor mhfocus $motor_driver_type [params \
   maxSpeed 3.6\
   maxAccel 1.728\
   maxDecel 1.728\
-  stepsPerX [expr -25000.0 * 50.0 / 360.0]\
+  stepsPerX [expr 25000.0 * 50.0 / 360.0]\
   absEnc 1\
   bias_bits 12\
   bias_bias 1300\
@@ -510,7 +510,7 @@ Motor m1 $motor_driver_type [params \
   maxDecel 0.25\
   stepsPerX 100000\
   absEnc 1\
-  absEncHome 16189898\
+  absEncHome 16190612\
   cntsPerX -2048]
 m1 part crystal
 m1 long_name m1

From d07a0418b6ea4b651c96487a2306c224dbcac758 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Fri, 17 Apr 2015 11:49:10 +1000
Subject: [PATCH 2/2] Add Taipan euler_config

---
 .../tas/config/motors/euler_configuration.tcl | 76 +++++++++++++++++++
 1 file changed, 76 insertions(+)
 create mode 100644 site_ansto/instrument/tas/config/motors/euler_configuration.tcl

diff --git a/site_ansto/instrument/tas/config/motors/euler_configuration.tcl b/site_ansto/instrument/tas/config/motors/euler_configuration.tcl
new file mode 100644
index 00000000..ceda6d7a
--- /dev/null
+++ b/site_ansto/instrument/tas/config/motors/euler_configuration.tcl
@@ -0,0 +1,76 @@
+# This must be loaded by motor_configuration.tcl
+
+set ephi_Home 26575217
+#set echi_Home 24224381
+#set echi_Home 8919294
+set echi_Home 24207159
+set eom_Home 23165482
+
+# Sample Lower Tilt sgl -> Euler Chi
+Motor echi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis B\
+  units degrees\
+  hardlowerlim -45\
+  hardupperlim 120\
+  maxSpeed 2\
+  maxAccel 2\
+  maxDecel 2\
+  stepsPerX -25000\
+  absEnc 1\
+  absEncHome $echi_Home\
+  cntsPerX 8192]
+setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
+echi softlowerlim -10
+echi softupperlim 120
+echi home 0
+echi speed 1
+echi movecount $move_count
+echi precision 0.01
+echi part sample
+echi long_name euler_chi
+
+# Sample Upper Tilt sgu -> Euler Phi
+Motor ephi $motor_driver_type [params \
+  asyncqueue mc2\
+  axis A\
+  units degrees\
+  hardlowerlim -365\
+  hardupperlim 365\
+  maxSpeed 5\
+  maxAccel 5\
+  maxDecel 5\
+  stepsPerX -12500\
+  absEnc 1\
+  absEncHome $ephi_Home\
+  cntsPerX -4096]
+setHomeandRange -motor ephi -home 0 -lowrange -360 -uprange 360
+ephi softlowerlim -360
+ephi softupperlim 360
+ephi home 0
+ephi speed 3
+ephi movecount $move_count
+ephi precision 0.01
+ephi part sample
+ephi long_name euler_phi
+
+# Sample Upper Translation stu -> euler omega stage
+Motor eom $motor_driver_type [params \
+  asyncqueue mc2\
+  axis C\
+  units degrees\
+  hardlowerlim -45\
+  hardupperlim 80\
+  maxSpeed 2\
+  maxAccel 2\
+  maxDecel 2\
+  stepsPerX 25000\
+  absEnc 1\
+  absEncHome $eom_Home\
+  cntsPerX -8192]
+setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
+eom speed 1
+eom movecount $move_count
+eom precision 0.01
+eom part sample
+eom long_name euler_omega