Don't allow change of direction if the fermimotor speed != 0.

Added an "idle" subcommand so the speed can be set to zero without
delevitating.  Also added alarm reset command.

site_ansto/instrument/pelican/config/chopper/fermimot.tcl

@@ -307,9 +307,19 @@ namespace eval ::chopper {
     variable ch2_gains
     variable ch3_gains
 
+    set currspeed [hval $hpath/$node/rotation_speed]
+    set currdir [hval $hpath/$node/motdir]
     if {$target >= 0} {
+      if {$currdir != $CW && $currspeed != 0} {
+        clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
+        return -code error
+      }
       set dir $CW
     } else {
+      if {$currdir != $CCW && $currspeed != 0} {
+        clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
+        return -code error
+      }
       set dir $CCW
     }
 
@@ -341,7 +351,7 @@ namespace eval ::chopper {
     }
   }
 
-  proc get_setRefDelay {hpath node addr name {target_ ""}} {
+  proc get_setRefDelay {hpath node addr name {target ""}} {
     global SCode
     if {$target == ""} {
       set delay [hval $hpath/$node/ref_delay]
@@ -379,12 +389,15 @@ namespace eval ::chopper {
 
   proc imot_SRun {hpath node addr name target} {
     global SCode
+    set catch_status [ catch {
       setSpeed $hpath $node $addr $name $target
       hset $hpath/$node/control/start 1
       hsetprop $hpath/$node/control timecheck -1
       set readtime [hgetpropval $hpath read_time]
       hsetprop $hpath lastupdate $readtime
       return $SCode(OKOK)
+    } message ]
+    handle_exception $catch_status $message
   }
 
   proc imot_SStatus {hpath node addr name} {
@@ -409,7 +422,7 @@ namespace eval ::chopper {
         set locked $up_to_speed
       } else {
         # PHASE mode
-        set locked [expr $up_to_speed && $phase_locked]
+        set locked $phase_locked
       }
       if {$locked} {
         if {$timecheck == -1} {
@@ -546,6 +559,12 @@ namespace eval ::chopper {
     return $SCode(OKOK)
   }
 
+  proc reset {hpath node addr name} {
+    global SCode
+    hset $hpath/$node/control/reset 1
+    return $SCode(OKOK)
+  }
+
   proc idle {hpath node addr name} {
     global SCode
     hset $hpath/$node/control/idle_toggle 1