Make the slits cartesian and do a little cleaning up

r1781 | dcl | 2007-04-02 15:00:20 +1000 (Mon, 02 Apr 2007) | 2 lines
2007-04-02 15:00:20 +10:00
parent c944a7383d
commit 636fb54aa7
2 changed files with 253 additions and 449 deletions
--- a/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hipd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.8 $
-# $Date: 2007-04-01 01:58:57 $
+# $Revision: 1.9 $
+# $Date: 2007-04-02 05:00:03 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $

 # START MOTOR CONFIGURATION

@@ -25,16 +25,12 @@ MakeMultiChan mc3 $dmc2280_controller3(host) $dmc2280_controller3(port)
 MakeMultiChan mc4 $dmc2280_controller4(host) $dmc2280_controller4(port)

 #Measured absolute encoder reading at home position
-# 7613185, 7504518, 6770094, 7463036, 8901369, 19927837, 22369621, 22369621
-# 7613516, 7503905, 6767221, 7464891
 set mphi_Home 7613516
 set mchi_Home 7503905
 set my_Home 6767221
 set mx_Home 7464891
 set mom_Home 9274794
 set mtth_Home 19927837
-# 7938155, 7585392, 7556982, 7563854, 17214054, 22369621, 22369621, 22369621
-# 7937974, 7585956, 7557524, 7557304, 16992893,  1497938,  7788744, 22369621
 set sphi_Home 7937974
 set schi_Home 7585956
 set sy_Home 7557524
@@ -63,29 +59,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
 set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]

 #Default upper and lower ranges for vertical slits
-set vertSlitHome 0
-set vertSlitLowRange 25
-set vertSlitUpRange 100
+set vSlitHome 0
+set vSlitLoRange 25
+set vSlitHiRange 100

 #Default upper and lower ranges for horizontal slits
-set horSlitHome 0
-set horSlitLowRange 25
-set horSlitUpRange 25
+set hSlitHome 0
+set hSlitLoRange 25
+set hSlitHiRange 25

-# set movecount high to reduce the frequency of 
+#calculate individual slit motor low ranges
+set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+#calculate individual slit motor high ranges
+set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
+
+# set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
 set move_count 100

-# Run slit homing routines on controllers 3 and 4
-#if [catch {dmc_connect dmc2280_controller3} ] {
-#  dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
-#  dmc_close dmc2280_controller3
-#}
-#if [catch {dmc_connect dmc2280_controller4} ] {
-#  dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
-#  dmc_close dmc2280_controller4
-#}
-
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -115,7 +121,7 @@ mphi speed 1
 mphi movecount $move_count
 mphi precision 0.01
 mphi part crystal
-mphi long_name phi 
+mphi long_name phi

 # Monochromator chi, Tilt 2, lower
 Motor mchi DMC2280 [params \
@@ -138,7 +144,7 @@ mchi speed 1
 mchi movecount $move_count
 mchi precision 0.01
 mchi part crystal
-mchi long_name chi 
+mchi long_name chi

 # Monochromator Trans 1, upper
 Motor my DMC2280 [params \
@@ -161,7 +167,7 @@ my speed 1
 my movecount $move_count
 my precision 0.01
 my part crystal
-my long_name translate_y 
+my long_name translate_y

 # Monochromator Trans 2, lower
 Motor mx DMC2280 [params \
@@ -184,7 +190,7 @@ mx speed 1
 mx movecount $move_count
 mx precision 0.01
 mx part crystal
-mx long_name translate_x 
+mx long_name translate_x

 # Monochromator omega, rotate
 Motor mom DMC2280 [params \
@@ -207,7 +213,7 @@ mom speed 1
 mom movecount $move_count
 mom precision 0.01
 mom part crystal
-mom long_name rotate 
+mom long_name rotate

 # Monochromator two-theta, flight-tube rotate
 Motor mtth DMC2280 [params \
@@ -269,7 +275,7 @@ sphi speed 1
 sphi movecount $move_count
 sphi precision 0.01
 sphi part sample
-sphi long_name phi 
+sphi long_name phi

 # Sample Tilt 2, lower, chi
 Motor schi DMC2280 [params \
@@ -292,7 +298,7 @@ schi speed 1
 schi movecount $move_count
 schi precision 0.01
 schi part sample
-schi long_name chi 
+schi long_name chi

 # Sample Trans 1, upper, y
 Motor sy DMC2280 [params \
@@ -315,7 +321,7 @@ sy speed 1
 sy movecount $move_count
 sy precision 0.01
 sy part sample
-sy long_name translate_y 
+sy long_name translate_y

 # Sample Trans2, lower, x
 Motor sx DMC2280 [params \
@@ -338,7 +344,7 @@ sx speed 1
 sx movecount $move_count
 sx precision 0.01
 sx part sample
-sx long_name translate_x 
+sx long_name translate_x

 # Sample Omega, rotate
 Motor som DMC2280 [params \
@@ -360,7 +366,7 @@ setHomeandRange -motor som -home 0 -lowrange 54 -uprange 120
 som speed 1
 som precision 0.01
 som part sample
-som long_name rotate 
+som long_name rotate

 # Sample two-theta, detector rotate
 Motor stth DMC2280 [params \
@@ -409,7 +415,7 @@ oct home 0
 oct speed 0.5
 oct precision 0.01
 oct part collimator
-oct long_name oct 
+oct long_name oct

 ############################
 # Motor Controller 3
@@ -439,7 +445,7 @@ oct long_name oct
 #mfl movecount $move_count
 #mf1 precision 0.01
 #mf1 part monochromator
-#mf1 long_name mf1 
+#mf1 long_name mf1

 # Monochromator Focusing (Ge)
 Motor mf2 DMC2280 [params \
@@ -461,7 +467,7 @@ setHomeandRange -motor mf2 -home 0 -lowrange 0 -uprange 1
 mf2 speed 0.1
 mf2 precision 0.01
 mf2 part monochromator
-mf2 long_name mf2 
+mf2 long_name mf2

 # Slit 1, right
 Motor ss1r DMC2280 [params \
@@ -470,17 +476,19 @@ Motor ss1r DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis E\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim $ss1r_LoRange\
+  hardupperlim $ss1r_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1r_Home]
-setHomeandRange -motor ss1r -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss1r softlowerlim $ss1r_LoRange
+ss1r softupperlim $ss1r_HiRange
+ss1r home 0
 ss1r movecount $move_count
 ss1r part sample
-ss1r long_name right 
+ss1r long_name right

 # Slit 1, left
 Motor ss1l DMC2280 [params \
@@ -489,17 +497,19 @@ Motor ss1l DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis F\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim $ss1l_LoRange\
+  hardupperlim $ss1l_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
  motorHome $ss1l_Home]
-setHomeandRange -motor ss1l -home $horSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss1l softlowerlim $ss1l_LoRange
+ss1l softupperlim $ss1l_HiRange
+ss1l home 0
 ss1l movecount $move_count
 ss1l part sample
-ss1l long_name left 
+ss1l long_name left

 # Slit 1, up
 Motor ss1u DMC2280 [params \
@@ -508,17 +518,19 @@ Motor ss1u DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis G\
  units mm\
-  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
-  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
+  hardlowerlim $ss1u_LoRange\
+  hardupperlim $ss1u_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1u_Home]
-setHomeandRange -motor ss1u -home $horSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss1u softlowerlim $ss1u_LoRange
+ss1u softupperlim $ss1u_HiRange
+ss1u home 0
 ss1u movecount $move_count
 ss1u part sample
-ss1u long_name top 
+ss1u long_name top

 # Slit 1, down
 Motor ss1d DMC2280 [params \
@@ -527,17 +539,19 @@ Motor ss1d DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis H\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim $ss1d_LoRange\
+  hardupperlim $ss1d_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
  motorHome $ss1d_Home]
-setHomeandRange -motor ss1d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss1d softlowerlim $ss1d_LoRange
+ss1d softupperlim $ss1d_HiRange
+ss1d home 0
 ss1d movecount $move_count
 ss1d part sample
-ss1d long_name bottom 
+ss1d long_name bottom

 ############################
 # Motor Controller 4
@@ -553,17 +567,19 @@ Motor ss2r DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis E\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim $ss2r_LoRange\
+  hardupperlim $ss2r_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2r_Home]
-setHomeandRange -motor ss2r -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss2r softlowerlim $ss2r_LoRange
+ss2r softupperlim $ss2r_HiRange
+ss2r home 0
 ss2r movecount $move_count
 ss2r part sample
-ss2r long_name right 
+ss2r long_name right

 # Slit 2, left
 Motor ss2l DMC2280 [params \
@@ -572,17 +588,19 @@ Motor ss2l DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis F\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim $ss2l_LoRange\
+  hardupperlim $ss2l_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
  motorHome $ss2l_Home]
-setHomeandRange -motor ss2l -home $vertSlitHome -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss2l softlowerlim $ss2l_LoRange
+ss2l softupperlim $ss2l_HiRange
+ss2l home 0
 ss2l movecount $move_count
 ss2l part sample
-ss2l long_name left 
+ss2l long_name left

 # Slit 2, up
 Motor ss2u DMC2280 [params \
@@ -591,17 +609,19 @@ Motor ss2u DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis G\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim $ss2u_LoRange\
+  hardupperlim $ss2u_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2u_Home]
-setHomeandRange -motor ss2u -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss2u softlowerlim $ss2u_LoRange
+ss2u softupperlim $ss2u_HiRange
+ss2u home 0
 ss2u movecount $move_count
 ss2u part sample
-ss2u long_name top 
+ss2u long_name top

 # Slit 2, down
 Motor ss2d DMC2280 [params \
@@ -610,17 +630,19 @@ Motor ss2d DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis H\
  units mm\
-  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
-  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
+  hardlowerlim $ss2d_LoRange\
+  hardupperlim $ss2d_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
-  stepsPerX -$slitStepRate\
+  stepsPerX $slitStepRate\
  motorHome $ss2d_Home]
-setHomeandRange -motor ss2d -home $vertSlitHome -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss2d softlowerlim $ss2d_LoRange
+ss2d softupperlim $ss2d_HiRange
+ss2d home 0
 ss2d movecount $move_count
 ss2d part sample
-ss2d long_name bottom 
+ss2d long_name bottom

 proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
 proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
@@ -638,182 +660,59 @@ MakeConfigurableMotor sth
 sth readscript sthGet
 sth drivescript sthSet

-#--------------------------------------------------------
-proc ss1widthscript {val} {
-  set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
+proc get_gap_width {m1 m2} {
+  return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
+}
+
+proc set_gap_width {m1 m2 val} {
+  set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss1r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss1l]] + $diff/2]
-  return "ss1r=$newD1R,ss1l=$newD1L"
+  set newD1R [expr [SplitReply [$m1]] + $diff/2]
+  set newD1L [expr [SplitReply [$m2]] - $diff/2]
+  return "$m1=$newD1R,$m2=$newD1L"
 }
-publish ss1widthscript user

-#-------------------------------------------------------
-proc ss1readwidth {} {
-  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
+proc get_gap_offset {m1 m2} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  return [ expr ($S1 + $S2)/2.0 ]
 }
-publish ss1readwidth user
-MakeConfigurableMotor ss1hg
-ss1hg drivescript ss1widthscript
-ss1hg readscript ss1readwidth

-#--------------------------------------------------------
-proc ss1horoffsetscript {val} {
-  set SR [SplitReply [ss1r]]
-  set SL [SplitReply [ss1l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss1r=$newD1R,ss1l=$newD1L"
+proc set_gap_offset {m1 m2 val} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  set currentoffset [expr ($S1 + $S2)/2.0 ]
+  set diff [expr $val - $currentoffset]
+  set newD1R [expr $S1 + $diff]
+  set newD1L [expr $S2 + $diff]
+  return "$m1=$newD1R,$m2=$newD1L"
 }
-publish ss1horoffsetscript user

-#-------------------------------------------------------
-proc ss1readhoroffset {} {
-  set SR [SplitReply [ss1r]]
-  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
+# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
+proc make_gap_motors {vm1 vm2 m1 m2} {
+  eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
+  set v {$var}
+  eval "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
+  MakeConfigurableMotor $vm1
+  $vm1 readscript get_$vm1
+  $vm1 drivescript set_$vm1
+publish get_$vm1 user
+publish set_$vm1 user
+
+  eval "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
+  set v {$var}
+  eval "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
+  MakeConfigurableMotor $vm2
+  $vm2 readscript get_$vm2
+  $vm2 drivescript set_$vm2
+publish get_$vm2 user
+publish set_$vm2 user
 }
-publish ss1readhoroffset user

-#-------------------------------------------------------
-MakeConfigurableMotor ss1ho
-ss1ho drivescript ss1horoffsetscript
-ss1ho readscript ss1readhoroffset
+make_gap_motors ss1vg ss1vo ss1u ss1d
+make_gap_motors ss1hg ss1ho ss1r ss1l

-#-----------------------------------------------------
-proc ss1heightscript {val} {
-  set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss1d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss1u]] + $diff/2]
-  return "ss1d=$newD1B,ss1u=$newD1T"
-}
-publish ss1heightscript user
-
-#-------------------------------------------------------
-proc ss1readheight {} {
-  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-}
-publish ss1readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss1vg
-ss1vg drivescript ss1heightscript
-ss1vg readscript ss1readheight
-
-#--------------------------------------------------------
-proc ss1vertoffsetscript {val} {
-  set SU [SplitReply [ss1u]]
-  set SD [SplitReply [ss1d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss1u=$newD1U,ss1d=$newD1D"
-}
-publish ss1vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss1readvertoffset {} {
-  set SU [SplitReply [ss1u]]
-  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
-}
-publish ss1readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss1vo
-ss1vo drivescript ss1vertoffsetscript
-ss1vo readscript ss1readvertoffset
-###############################################
-
-
-#--------------------------------------------------------
-proc ss2widthscript {val} {
-  set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss2r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss2l]] + $diff/2]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2widthscript user
-
-#-------------------------------------------------------
-proc ss2readwidth {} {
-  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-}
-publish ss2readwidth user
-MakeConfigurableMotor ss2hg
-ss2hg drivescript ss2widthscript
-ss2hg readscript ss2readwidth
-
-#--------------------------------------------------------
-proc ss2horoffsetscript {val} {
-  set SR [SplitReply [ss2r]]
-  set SL [SplitReply [ss2l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2horoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readhoroffset {} {
-  set SR [SplitReply [ss2r]]
-  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
-}
-publish ss2readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2ho
-ss2ho drivescript ss2horoffsetscript
-ss2ho readscript ss2readhoroffset
-
-#-----------------------------------------------------
-proc ss2heightscript {val} {
-  set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss2d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss2u]] + $diff/2]
-  return "ss2d=$newD1B,ss2u=$newD1T"
-}
-publish ss2heightscript user
-
-#-------------------------------------------------------
-proc ss2readheight {} {
-  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-}
-publish ss2readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss2vg
-ss2vg drivescript ss2heightscript
-ss2vg readscript ss2readheight
-
-#--------------------------------------------------------
-proc ss2vertoffsetscript {val} {
-  set SU [SplitReply [ss2u]]
-  set SD [SplitReply [ss2d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss2u=$newD1U,ss2d=$newD1D"
-}
-publish ss2vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readvertoffset {} {
-  set SU [SplitReply [ss2u]]
-  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
-}
-publish ss2readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2vo
-ss2vo drivescript ss2vertoffsetscript
-ss2vo readscript ss2readvertoffset
+make_gap_motors ss2vg ss2vo ss2u ss2d
+make_gap_motors ss2hg ss2ho ss2r ss2l

 # END MOTOR CONFIGURATION
--- a/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/hrpd/config/motors/motor_configuration.tcl
@@ -1,7 +1,7 @@
-# $Revision: 1.11 $
-# $Date: 2007-04-01 02:24:16 $
+# $Revision: 1.12 $
+# $Date: 2007-04-02 05:00:20 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
-# Last revision by: $Author: ffr $
+# Last revision by: $Author: dcl $

 # START MOTOR CONFIGURATION

@@ -60,27 +60,39 @@ set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
 set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]

 #Default upper and lower ranges for vertical slits
-set vertSlitLowRange 25
-set vertSlitUpRange 100
+set vSlitHome 0
+set vSlitLoRange 20
+set vSlitHiRange 100

 #Default upper and lower ranges for horizontal slits
-set horSlitLowRange 25
-set horSlitUpRange 25
+set hSlitHome 0
+set hSlitLoRange 15
+set hSlitHiRange 35

-# set movecount high to reduce the frequency of 
+#calculate individual slit motor low ranges
+set ss1r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss1l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss1u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss1d_LoRange [expr $vSlitHome - $vSlitHiRange]
+set ss2r_LoRange [expr $hSlitHome - $hSlitLoRange]
+set ss2l_LoRange [expr $hSlitHome - $hSlitHiRange]
+set ss2u_LoRange [expr $vSlitHome - $vSlitLoRange]
+set ss2d_LoRange [expr $vSlitHome - $vSlitHiRange]
+
+#calculate individual slit motor high ranges
+set ss1r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss1l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss1u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss1d_HiRange [expr $vSlitHome + $vSlitLoRange]
+set ss2r_HiRange [expr $hSlitHome + $hSlitHiRange]
+set ss2l_HiRange [expr $hSlitHome + $hSlitLoRange]
+set ss2u_HiRange [expr $vSlitHome + $vSlitHiRange]
+set ss2d_HiRange [expr $vSlitHome + $vSlitLoRange]
+
+# set movecount high to reduce the frequency of
 # hnotify messages to a reasonable level
 set move_count 100

-# Run slit homing routines on controllers 3 and 4
-#if [catch {dmc_connect dmc2280_controller3} ] {
-#  dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
-#  dmc_close dmc2280_controller3
-#}
-#if [catch {dmc_connect dmc2280_controller4} ] {
-#  dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
-#  dmc_close dmc2280_controller4
-#}
-
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -463,14 +475,16 @@ Motor ss1r DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis E\
  units mm\
-  hardlowerlim -15\
-  hardupperlim 35\
+  hardlowerlim $ss1r_LoRange\
+  hardupperlim $ss1r_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1r_Home]
-setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss1r softlowerlim $ss1r_LoRange
+ss1r softupperlim $ss1r_HiRange
+ss1r home 0
 ss1r movecount $move_count
 ss1r part filter
 ss1r long_name right
@@ -482,14 +496,16 @@ Motor ss1l DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis F\
  units mm\
-  hardlowerlim -15\
-  hardupperlim 35\
+  hardlowerlim $ss1l_LoRange\
+  hardupperlim $ss1l_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1l_Home]
-setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss1l softlowerlim $ss1l_LoRange
+ss1l softupperlim $ss1l_HiRange
+ss1l home 0
 ss1l movecount $move_count
 ss1l part filter
 ss1l long_name left
@@ -501,14 +517,16 @@ Motor ss1u DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis G\
  units mm\
-  hardlowerlim -20\
-  hardupperlim 100\
+  hardlowerlim $ss1u_LoRange\
+  hardupperlim $ss1u_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1u_Home]
-setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss1u softlowerlim $ss1u_LoRange
+ss1u softupperlim $ss1u_HiRange
+ss1u home 0
 ss1u movecount $move_count
 ss1u part filter
 ss1u long_name top
@@ -520,14 +538,16 @@ Motor ss1d DMC2280 [params \
  port $dmc2280_controller3(port)\
  axis H\
  units mm\
-  hardlowerlim -20\
-  hardupperlim 100\
+  hardlowerlim $ss1d_LoRange\
+  hardupperlim $ss1d_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1d_Home]
-setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss1d softlowerlim $ss1d_LoRange
+ss1d softupperlim $ss1d_HiRange
+ss1d home 0
 ss1d movecount $move_count
 ss1d part filter
 ss1d long_name bottom
@@ -578,14 +598,16 @@ Motor ss2r DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis E\
  units mm\
-  hardlowerlim -15\
-  hardupperlim 35\
+  hardlowerlim $ss2r_LoRange\
+  hardupperlim $ss2r_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2r_Home]
-setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss2r softlowerlim $ss2r_LoRange
+ss2r softupperlim $ss2r_HiRange
+ss2r home 0
 ss2r movecount $move_count
 ss2r part filter
 ss2r long_name right
@@ -597,14 +619,16 @@ Motor ss2l DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis F\
  units mm\
-  hardlowerlim -15\
-  hardupperlim 35\
+  hardlowerlim $ss2l_LoRange\
+  hardupperlim $ss2l_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2l_Home]
-setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
+ss2l softlowerlim $ss2l_LoRange
+ss2l softupperlim $ss2l_HiRange
+ss2l home 0
 ss2l movecount $move_count
 ss2l part filter
 ss2l long_name left
@@ -616,14 +640,16 @@ Motor ss2u DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis G\
  units mm\
-  hardlowerlim -20\
-  hardupperlim 100\
+  hardlowerlim $ss2u_LoRange\
+  hardupperlim $ss2u_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2u_Home]
-setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss2u softlowerlim $ss2u_LoRange
+ss2u softupperlim $ss2u_HiRange
+ss2u home 0
 ss2u movecount $move_count
 ss2u part filter
 ss2u long_name top
@@ -635,14 +661,16 @@ Motor ss2d DMC2280 [params \
  port $dmc2280_controller4(port)\
  axis H\
  units mm\
-  hardlowerlim -20\
-  hardupperlim 100\
+  hardlowerlim $ss2d_LoRange\
+  hardupperlim $ss2d_HiRange\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2d_Home]
-setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
+ss2d softlowerlim $ss2d_LoRange
+ss2d softupperlim $ss2d_HiRange
+ss2d home 0
 ss2d movecount $move_count
 ss2d part filter
 ss2d long_name bottom
@@ -663,182 +691,59 @@ MakeConfigurableMotor sth
 sth readscript sthGet
 sth drivescript sthSet

-#--------------------------------------------------------
-proc ss1widthscript {val} {
-  set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
+proc get_gap_width {m1 m2} {
+  return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
+}
+
+proc set_gap_width {m1 m2 val} {
+  set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss1r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss1l]] + $diff/2]
-  return "ss1r=$newD1R,ss1l=$newD1L"
+  set newD1R [expr [SplitReply [$m1]] + $diff/2]
+  set newD1L [expr [SplitReply [$m2]] - $diff/2]
+  return "$m1=$newD1R,$m2=$newD1L"
 }
-publish ss1widthscript user

-#-------------------------------------------------------
-proc ss1readwidth {} {
-  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
+proc get_gap_offset {m1 m2} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  return [ expr ($S1 + $S2)/2.0 ]
 }
-publish ss1readwidth user
-MakeConfigurableMotor ss1hg
-ss1hg drivescript ss1widthscript
-ss1hg readscript ss1readwidth

-#--------------------------------------------------------
-proc ss1horoffsetscript {val} {
-  set SR [SplitReply [ss1r]]
-  set SL [SplitReply [ss1l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss1r=$newD1R,ss1l=$newD1L"
+proc set_gap_offset {m1 m2 val} {
+  set S1 [SplitReply [$m1]]
+  set S2 [SplitReply [$m2]]
+  set currentoffset [expr ($S1 + $S2)/2.0 ]
+  set diff [expr $val - $currentoffset]
+  set newD1R [expr $S1 + $diff]
+  set newD1L [expr $S2 + $diff]
+  return "$m1=$newD1R,$m2=$newD1L"
 }
-publish ss1horoffsetscript user

-#-------------------------------------------------------
-proc ss1readhoroffset {} {
-  set SR [SplitReply [ss1r]]
-  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ]
+# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
+proc make_gap_motors {vm1 vm2 m1 m2} {
+  eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
+  set v {$var}
+  eval "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
+  MakeConfigurableMotor $vm1
+  $vm1 readscript get_$vm1
+  $vm1 drivescript set_$vm1
+publish get_$vm1 user
+publish set_$vm1 user
+
+  eval "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
+  set v {$var}
+  eval "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
+  MakeConfigurableMotor $vm2
+  $vm2 readscript get_$vm2
+  $vm2 drivescript set_$vm2
+publish get_$vm2 user
+publish set_$vm2 user
 }
-publish ss1readhoroffset user

-#-------------------------------------------------------
-MakeConfigurableMotor ss1ho
-ss1ho drivescript ss1horoffsetscript
-ss1ho readscript ss1readhoroffset
+make_gap_motors ss1vg ss1vo ss1u ss1d
+make_gap_motors ss1hg ss1ho ss1r ss1l

-#-----------------------------------------------------
-proc ss1heightscript {val} {
-  set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss1d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss1u]] + $diff/2]
-  return "ss1d=$newD1B,ss1u=$newD1T"
-}
-publish ss1heightscript user
-
-#-------------------------------------------------------
-proc ss1readheight {} {
-  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
-}
-publish ss1readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss1vg
-ss1vg drivescript ss1heightscript
-ss1vg readscript ss1readheight
-
-#--------------------------------------------------------
-proc ss1vertoffsetscript {val} {
-  set SU [SplitReply [ss1u]]
-  set SD [SplitReply [ss1d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss1u=$newD1U,ss1d=$newD1D"
-}
-publish ss1vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss1readvertoffset {} {
-  set SU [SplitReply [ss1u]]
-  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ]
-}
-publish ss1readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss1vo
-ss1vo drivescript ss1vertoffsetscript
-ss1vo readscript ss1readvertoffset
-###############################################
-
-
-#--------------------------------------------------------
-proc ss2widthscript {val} {
-  set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-  set diff [expr $val - $currentWidth]
-  set newD1R [expr [SplitReply [ss2r]] + $diff/2]
-  set newD1L [expr [SplitReply [ss2l]] + $diff/2]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2widthscript user
-
-#-------------------------------------------------------
-proc ss2readwidth {} {
-  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
-}
-publish ss2readwidth user
-MakeConfigurableMotor ss2hg
-ss2hg drivescript ss2widthscript
-ss2hg readscript ss2readwidth
-
-#--------------------------------------------------------
-proc ss2horoffsetscript {val} {
-  set SR [SplitReply [ss2r]]
-  set SL [SplitReply [ss2l]]
-  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1R [expr $SR + $diff]
-  set newD1L [expr $SL - $diff]
-  return "ss2r=$newD1R,ss2l=$newD1L"
-}
-publish ss2horoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readhoroffset {} {
-  set SR [SplitReply [ss2r]]
-  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ]
-}
-publish ss2readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2ho
-ss2ho drivescript ss2horoffsetscript
-ss2ho readscript ss2readhoroffset
-
-#-----------------------------------------------------
-proc ss2heightscript {val} {
-  set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-  set diff [expr $val - $currentWidth]
-  set newD1B [expr [SplitReply [ss2d]] + $diff/2]
-  set newD1T [expr [SplitReply [ss2u]] + $diff/2]
-  return "ss2d=$newD1B,ss2u=$newD1T"
-}
-publish ss2heightscript user
-
-#-------------------------------------------------------
-proc ss2readheight {} {
-  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
-}
-publish ss2readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor ss2vg
-ss2vg drivescript ss2heightscript
-ss2vg readscript ss2readheight
-
-#--------------------------------------------------------
-proc ss2vertoffsetscript {val} {
-  set SU [SplitReply [ss2u]]
-  set SD [SplitReply [ss2d]]
-  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
-  set diff [expr $val - $currentOffset]
-  set newD1U [expr $SU + $diff]
-  set newD1D [expr $SD - $diff]
-  return "ss2u=$newD1U,ss2d=$newD1D"
-}
-publish ss2vertoffsetscript user
-
-#-------------------------------------------------------
-proc ss2readvertoffset {} {
-  set SU [SplitReply [ss2u]]
-  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ]
-}
-publish ss2readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor ss2vo
-ss2vo drivescript ss2vertoffsetscript
-ss2vo readscript ss2readvertoffset
+make_gap_motors ss2vg ss2vo ss2u ss2d
+make_gap_motors ss2hg ss2ho ss2r ss2l

 # END MOTOR CONFIGURATION