The cnts_per_x for shd and vs should be negative to match our RH coord system.

NOTE: The ap8 encoder values seem to be wrong in the Bilby spreadsheet.
Also the det encoder values for the limits are missing in the spreadsheet.

site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv

@@ -371,7 +371,7 @@ sdh_5a_in,1535698
 sdh_5b_in,3747542
 sdh_axis,B
 sdh_axis_number,26
-sdh_cnts_per_x,12288
+sdh_cnts_per_x,-12288
 sdh_description,SDH Box
 sdh_fwd_enc_lim,1189505
 sdh_mc,mc4
@@ -435,7 +435,7 @@ ss1u_rev_enc_lim,33297987
 ss1u_steps_per_x,50000
 vs_axis,D
 vs_axis_number,28
-vs_cnts_per_x,12288
+vs_cnts_per_x,-12288
 vs_description,Velocity Selector Trans
 vs_dflt_accel_steps,15000
 vs_dflt_decel_steps,50000

site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl

@@ -691,8 +691,8 @@ Motor sdh $motor_driver_type [params\
   maxDecel $sdh_maxdecel\
   stepsPerX $sdh_steps_per_x\
   posit_count 2\
-  posit_1 $sdh_5a_in\
-  posit_2 $sdh_5b_in\
+  posit_1 $sdh_5b_in\
+  posit_2 $sdh_5a_in\
   absEnc 1\
   absEncHome $sdh_absenchome\
   cntsPerX $sdh_cnts_per_x]

site_ansto/instrument/bilby/config/motors/sicsmot_attlist.csv

@@ -57,95 +57,91 @@ ap8_speed,1.4062
 att_absenchome,33021197.0000
 att_accel,3.6000
 att_decel,3.6000
-att_fwd_lim,-273.7734
+att_fwd_lim,273.7734
 att_home,0.0000
 att_rev_lim,0.0000
 att_speed,3.6000
 cdd_absenchome,4159255.0000
 cdd_accel,0.2500
 cdd_decel,0.2500
-cdd_fwd_lim,349.0000
+cdd_fwd_lim,349.7198
 cdd_home,0.0000
-cdd_part,instrument
 cdd_rev_lim,0.0000
 cdd_speed,1.5000
 cdl_absenchome,5769621.0000
 cdl_accel,0.2500
 cdl_decel,0.2500
-cdl_fwd_lim,356.0000
+cdl_fwd_lim,356.9644
 cdl_home,0.0000
 cdl_rev_lim,0.0000
 cdl_speed,1.5000
-cdl_units,xxx
 cdr_absenchome,4371043.0000
 cdr_accel,0.2500
 cdr_decel,0.2500
-cdr_fwd_lim,358.0000
+cdr_fwd_lim,358.0801
 cdr_home,0.0000
-cdr_part,instrument
 cdr_rev_lim,0.0000
 cdr_speed,1.5000
 cdu_absenchome,21804679.0000
 cdu_accel,0.2500
 cdu_decel,0.2500
-cdu_fwd_lim,356.0000
+cdu_fwd_lim,356.9028
 cdu_home,0.0000
 cdu_rev_lim,0.0000
 cdu_speed,1.5000
-cdu_units,xxx
 col1_absenchome,3902.0000
 col1_accel,0.3333
 col1_decel,0.3333
-col1_fwd_lim,270.0000
+col1_fwd_lim,270.2969
 col1_home,0.0000
 col1_rev_lim,0.0000
 col1_speed,0.6667
 col2_absenchome,9598.0000
 col2_accel,0.3333
 col2_decel,0.3333
-col2_fwd_lim,270.0000
+col2_fwd_lim,270.9961
 col2_home,0.0000
 col2_rev_lim,0.0000
 col2_speed,0.6667
 col3_absenchome,29466.0000
 col3_accel,0.3333
 col3_decel,0.3333
-col3_fwd_lim,268.0000
+col3_fwd_lim,268.1104
 col3_home,0.0000
 col3_rev_lim,0.0000
 col3_speed,0.6667
 col4_absenchome,12861.0000
 col4_accel,0.3333
 col4_decel,0.3333
-col4_fwd_lim,269.0000
+col4_fwd_lim,269.4302
 col4_home,0.0000
 col4_rev_lim,0.0000
 col4_speed,0.6667
 col5_absenchome,377801.0000
 col5_accel,0.3333
 col5_decel,0.3333
-col5_fwd_lim,268.0000
+col5_fwd_lim,268.7666
 col5_home,0.0000
 col5_rev_lim,0.0000
 col5_speed,0.6667
 col6_absenchome,191508.0000
 col6_accel,0.3333
 col6_decel,0.3333
-col6_fwd_lim,271.0000
+col6_fwd_lim,271.2998
 col6_home,0.0000
 col6_rev_lim,0.0000
 col6_speed,0.6667
 col7_absenchome,24810.0000
 col7_accel,0.3333
 col7_decel,0.3333
-col7_fwd_lim,269.0000
+col7_fwd_lim,269.9331
 col7_home,0.0000
 col7_rev_lim,0.0000
 col7_speed,0.6667
 col8_absenchome,12893.0000
 col8_accel,0.3333
 col8_decel,0.3333
-col8_fwd_lim,267.0000
+col8_fwd_lim,267.6748
 col8_home,0.0000
 col8_rev_lim,0.0000
 col8_speed,0.6667
@@ -157,46 +153,44 @@ det_home,0.0000
 det_rev_lim,0.0000
 det_speed,25.6410
 sdh_absenchome,4166803.0000
-sdh_fwd_lim,-243.0000
+sdh_fwd_lim,242.2931
 sdh_home,0.0000
 sdh_maxaccel,1.0000
 sdh_maxdecel,1.0000
 sdh_maxspeed,1.0000
-sdh_part,instrument
 sdh_rev_lim,0.0000
-sdh_units,xxx
 ss1d_absenchome,33398312.0000
 ss1d_accel,0.5000
 ss1d_decel,0.5000
-ss1d_fwd_lim,114.0000
+ss1d_fwd_lim,114.3299
 ss1d_home,0.0000
 ss1d_rev_lim,0.0000
 ss1d_speed,0.5000
 ss1l_absenchome,32637740.0000
 ss1l_accel,0.5000
 ss1l_decel,0.5000
-ss1l_fwd_lim,-68.0000
+ss1l_fwd_lim,67.9708
 ss1l_home,0.0000
 ss1l_rev_lim,0.0000
 ss1l_speed,0.5000
 ss1r_absenchome,33421848.0000
 ss1r_accel,0.5000
 ss1r_decel,0.5000
-ss1r_fwd_lim,-72.0000
+ss1r_fwd_lim,71.6127
 ss1r_home,0.0000
 ss1r_rev_lim,0.0000
 ss1r_speed,0.5000
 ss1u_absenchome,33297987.0000
 ss1u_accel,0.5000
 ss1u_decel,0.5000
-ss1u_fwd_lim,113.0000
+ss1u_fwd_lim,113.7317
 ss1u_home,0.0000
 ss1u_rev_lim,0.0000
 ss1u_speed,0.5000
 vs_absenchome,3789130.0000
 vs_accel,0.4000
 vs_decel,1.3333
-vs_fwd_lim,-276.0000
+vs_fwd_lim,275.2637
 vs_home,0.0000
 vs_rev_lim,0.0000
 vs_speed,1.3333