From 54b383647a771c4df56c67b9a52be31973a36156 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Mon, 10 Feb 2014 16:37:07 +1100
Subject: [PATCH] Use fwd_enc_lim for SICS motor lower-limit when positive
 steps drive an axis in the negative direction for our standard coordinate
 system.

---
 site_ansto/instrument/util/genmotconf.tcl | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/site_ansto/instrument/util/genmotconf.tcl b/site_ansto/instrument/util/genmotconf.tcl
index 6dad4fa9..97f73af2 100755
--- a/site_ansto/instrument/util/genmotconf.tcl
+++ b/site_ansto/instrument/util/genmotconf.tcl
@@ -93,7 +93,11 @@ proc gen_attval {mot att} {
   if [info exists ::${mot}_attarr(absenchome)] {
     set enc_home_val [expr double([set ::${mot}_attarr(absenchome)])]
   } else {
-    set enc_home_val [expr double([set ::${mot}_encatts(rev_enc_lim)])]
+    if {$sign < 0} {
+      set enc_home_val [expr double([set ::${mot}_encatts(fwd_enc_lim)])]
+    } else {
+      set enc_home_val [expr double([set ::${mot}_encatts(rev_enc_lim)])]
+    }
   }
   if [info exists ::${mot}_attarr(home)] {
     set home_val [expr double([set ::${mot}_attarr(home)])]
@@ -103,7 +107,7 @@ proc gen_attval {mot att} {
   switch $att {
     "absenchome" {
       if [info exists ::${mot}_encatts(rev_enc_lim)] {
-        return [set ::${mot}_encatts(rev_enc_lim)]
+        return $enc_home_val
       } else {
         return "NOATT"
       }
@@ -113,7 +117,11 @@ proc gen_attval {mot att} {
     "maxdecel" {return 1}
     "rev_lim" {
       if { [info exists ::${mot}_encatts(rev_enc_lim)] && [info exists ::${mot}_encatts(cnts_per_x)] } {
-        return [expr {$sign * ($rev_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        if {$sign < 0} {
+          return [expr {($fwd_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        } else {
+          return [expr {($rev_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        }
       } else {
         return 0
       }
@@ -121,7 +129,11 @@ proc gen_attval {mot att} {
     "home" {return 0}
     "fwd_lim" {
       if { [info exists ::${mot}_encatts(fwd_enc_lim)] && [info exists ::${mot}_encatts(cnts_per_x)] } {
-        return [expr {$sign * ($fwd_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        if {$sign < 0} {
+          return [expr {($rev_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        } else {
+          return [expr {($fwd_enc_lim_val - $enc_home_val) / $cnts_per_x_val + $home_val}]
+        }
       } else {
         return 1
       }