From 8426f77d2877a488035dad8517246886b1de083d Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Thu, 9 Nov 2006 17:10:37 +1100
Subject: [PATCH] Use hpaths.tcl

r1268 | ffr | 2006-11-09 17:10:37 +1100 (Thu, 09 Nov 2006) | 2 lines
---
 .../instrument/reflectometer/MANIFEST.TXT     |   4 +
 .../reflectometer/platypus_configuration.tcl  | 901 +-----------------
 2 files changed, 9 insertions(+), 896 deletions(-)

diff --git a/site_ansto/instrument/reflectometer/MANIFEST.TXT b/site_ansto/instrument/reflectometer/MANIFEST.TXT
index 81055857..55d2c588 100644
--- a/site_ansto/instrument/reflectometer/MANIFEST.TXT
+++ b/site_ansto/instrument/reflectometer/MANIFEST.TXT
@@ -1,4 +1,8 @@
 platypus_configuration.tcl
+platypus_motor_configuration.tcl
 chopper.tcl
 hipadaba_configuration.tcl
 InstXML.tcl
+extraconfig.tcl
+hpaths.tcl
+
diff --git a/site_ansto/instrument/reflectometer/platypus_configuration.tcl b/site_ansto/instrument/reflectometer/platypus_configuration.tcl
index 6fcdbb7d..da7cbc01 100644
--- a/site_ansto/instrument/reflectometer/platypus_configuration.tcl
+++ b/site_ansto/instrument/reflectometer/platypus_configuration.tcl
@@ -1,5 +1,5 @@
-# $Revision: 1.3 $
-# $Date: 2006-11-08 05:23:30 $
+# $Revision: 1.4 $
+# $Date: 2006-11-09 06:10:37 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -24,19 +24,6 @@ set chopper_controller(port) 10000
 set chopper_controller(user) NCS
 set chopper_controller(password) NCS013
 
-# Setup addresses of Galil DMC2280 controllers.
-set dmc2280_controller1(host) mc1-platypus
-set dmc2280_controller1(port) pmc1-platypus
-
-set dmc2280_controller2(host) mc2-platypus
-set dmc2280_controller2(port) pmc2-platypus
-
-set dmc2280_controller3(host) mc3-platypus
-set dmc2280_controller3(port) pmc3-platypus
-
-set dmc2280_controller4(host) mc4-platypus
-set dmc2280_controller4(port) pmc4-platypus
-
 # CHOPPER
 MakeChopper chopperController tcpdocho [params \
   host $chopper_controller(host) \
@@ -47,885 +34,7 @@ MakeChopper chopperController tcpdocho [params \
   password $chopper_controller(password) \
 ]
 
-# MOTORS
-Motor s1up DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis A\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1up hardlowerlim -15
-s1up hardupperlim 15
-s1up softlowerlim -15
-s1up softupperlim 15
-s1up home 0
 
-Motor s1lo DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis B\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1lo hardlowerlim -15
-s1lo hardupperlim 15
-s1lo softlowerlim -15
-s1lo softupperlim 15
-s1lo home 0
-
-Motor s1ri DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis C\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1ri hardlowerlim -13
-s1ri hardupperlim 27
-s1ri softlowerlim -13
-s1ri softupperlim 27
-s1ri home 0
-
-Motor s1le DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis D\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s1le hardlowerlim -27
-s1le hardupperlim 13
-s1le softlowerlim -27
-s1le softupperlim 13
-s1le home 0
-
-Motor s2up DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis E\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s2up hardlowerlim -15
-s2up hardupperlim 15
-s2up softlowerlim -15
-s2up softupperlim 15
-s2up home 0
-
-Motor s2lo DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis F\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s2lo hardlowerlim -15
-s2lo hardupperlim 15
-s2lo softlowerlim -15
-s2lo softupperlim 15
-s2lo home 0
-
-Motor s2ri DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis G\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000]
-s2ri hardlowerlim -13
-s2ri hardupperlim 27
-s2ri softlowerlim -13
-s2ri softupperlim 27
-s2ri home 0
-
-Motor s2le DMC2280 [params \
-	host $dmc2280_controller3(host)\
-	port $dmc2280_controller3(port)\
-	axis H\
- units mm\
- maxSpeed 1\
- maxAccel 1\
- maxDecel 1\
-	stepsPerX 25000]
-s2le hardlowerlim -27
-s2le hardupperlim 13
-s2le softlowerlim -27
-s2le softupperlim 13
-s2le home 0
-
-Motor st3vt DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-st3vt hardlowerlim -179
-st3vt hardupperlim 21
-st3vt softlowerlim -179
-st3vt softupperlim 21
-st3vt home 0
-
-Motor s3up DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis A\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3up hardlowerlim -15
-s3up hardupperlim 15
-s3up softlowerlim -15
-s3up softupperlim 15
-s3up home 0
-
-Motor s3lo DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis B\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3lo hardlowerlim -15
-s3lo hardupperlim 15
-s3lo softlowerlim -15
-s3lo softupperlim 15
-s3lo home 0
-
-Motor s3ri DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis C\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3ri hardlowerlim -13
-s3ri hardupperlim 27
-s3ri softlowerlim -13
-s3ri softupperlim 27
-s3ri home 0
-
-Motor s3le DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis D\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s3le hardlowerlim -27
-s3le hardupperlim 13
-s3le softlowerlim -27
-s3le softupperlim 13
-s3le home 0
-
-Motor st4vt DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-st4vt hardlowerlim -179
-st4vt hardupperlim 21
-st4vt softlowerlim -179
-st4vt softupperlim 21
-st4vt home 0
-
-Motor s4up DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis E\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4up hardlowerlim -15
-s4up hardupperlim 15
-s4up softlowerlim -15
-s4up softupperlim 15
-s4up home 0
-
-Motor s4lo DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4lo hardlowerlim -15
-s4lo hardupperlim 15
-s4lo softlowerlim -15
-s4lo softupperlim 15
-s4lo home 0
-
-Motor s4ri DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis G\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4ri hardlowerlim -13
-s4ri hardupperlim 27
-s4ri softlowerlim -13
-s4ri softupperlim 27
-s4ri home 0
-
-Motor s4le DMC2280 [params \
-	host $dmc2280_controller4(host)\
-	port $dmc2280_controller4(port)\
-	axis H\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-s4le hardlowerlim -27
-s4le hardupperlim 13
-s4le softlowerlim -27
-s4le softupperlim 13
-s4le home 0
-
-#Motor c1ht DMC2280 [params \
-#	host $dmc2280_controller1(host)\
-#	port $dmc2280_controller1(port)\
-#	axis B\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#c1ht hardlowerlim xxxx
-#c1ht hardupperlim xxxx
-#c1ht softlowerlim xxxx
-#c1ht softupperlim xxxx
-#c1ht home 0
-
-Motor m1ro DMC2280 [params \
-	host $dmc2280_controller1(host)\
-	port $dmc2280_controller1(port)\
-	axis C\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-m1ro hardlowerlim -5
-m1ro hardupperlim 5
-m1ro softlowerlim -5
-m1ro softupperlim 5
-m1ro home 0
-
-Motor say DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis D\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-say hardlowerlim -600
-say hardupperlim -300
-say softlowerlim -600
-say softupperlim -300
-say home 0
-
-#Motor sax DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis C\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#sax hardlowerlim xxxx
-#sax hardupperlim 750
-#sax softlowerlim xxxx
-#sax softupperlim 750
-#sax home 0
-
-Motor sath DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis A\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-sath hardlowerlim -10
-sath hardupperlim 10
-sath softlowerlim -10
-sath softupperlim 10
-sath home 0
-
-Motor saphi DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis B\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-saphi hardlowerlim -20
-saphi hardupperlim 20
-saphi softlowerlim -20
-saphi softupperlim 20
-saphi home 0
-
-#Motor anyvt DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis xxxx\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#anyvt hardlowerlim xxxx
-#anyvt hardupperlim xxxx
-#anyvt softlowerlim xxxx
-#anyvt softupperlim xxxx
-#anyvt home 0
-
-#Motor anro DMC2280 [params \
-#	host $dmc2280_controller2(host)\
-#	port $dmc2280_controller2(port)\
-#	axis xxxx\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#anro hardlowerlim -10
-#anro hardupperlim 10
-#anro softlowerlim -10
-#anro softupperlim 10
-#anro home 0
-
-#Motor dsyvt DMC2280 [params \
-#	host $dmc2280_controller1(host)\
-#	port $dmc2280_controller1(port)\
-#	axis A\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#dsyvt hardlowerlim xxxx
-#dsyvt hardupperlim xxxx
-#dsyvt softlowerlim xxxx
-#dsyvt softupperlim xxxx
-#dsyvt home 0
-
-Motor deyvt DMC2280 [params \
-	host $dmc2280_controller2(host)\
-	port $dmc2280_controller2(port)\
-	axis F\
-  units mm\
-  maxSpeed 1\
-  maxAccel 1\
-  maxDecel 1\
-	stepsPerX 25000\
-	absEnc 1\
-	absEncHome 7500000\
-	cntsPerX 8192]
-deyvt hardlowerlim -595
-deyvt hardupperlim 800
-deyvt softlowerlim -595
-deyvt softupperlim 800
-deyvt home 0
-
-#Motor dezht DMC2280 [params \
-#	host $dmc2280_controllerxxxx(host)\
-#	port $dmc2280_controllerxxxx(port)\
-#	axis xxxx\
-#  units mm\
-#  maxSpeed 1\
-#  maxAccel 1\
-#  maxDecel 1\
-#	stepsPerX 25000\
-#	absEnc 1\
-#	absEncHome 7500000\
-#	cntsPerX 8192]
-#dezht hardlowerlim -595
-#dezht hardupperlim 800
-#dezht softlowerlim -595
-#dezht softupperlim 800
-#dezht home 0
-
-#proc SplitReply { text } {
-#     set l [split $text =]
-#     return [lindex $l 1]
-#}
-
-#--------------------------------------------------------
-proc s1widthscript {val} {
-	set currentWidth [expr [SplitReply [s1ri]] + [SplitReply [s1le]]]
-	set diff [expr $val - $currentWidth]
-	set newD1R [expr [SplitReply [s1ri]] + $diff/2]
-	set newD1L [expr [SplitReply [s1le]] + $diff/2]
-	return "s1ri=$newD1R,s1le=$newD1L"
-}
-publish s1widthscript user
-
-#-------------------------------------------------------
-proc s1readwidth {} {
-	return [expr [SplitReply [s1ri]] + [SplitReply [s1le]]] 
-}
-publish s1readwidth user
-MakeConfigurableMotor s1hg
-s1hg drivescript s1widthscript
-s1hg readscript s1readwidth
-
-#--------------------------------------------------------
-proc s1heightscript {val} {
-	set currentWidth [expr [SplitReply [s1up]] + [SplitReply [s1lo]]]
-	set diff [expr $val - $currentWidth]
-	set newD1B [expr [SplitReply [s1lo]] + $diff/2]
-	set newD1T [expr [SplitReply [s1up]] + $diff/2]
-	return "s1lo=$newD1B,s1up=$newD1T"
-}
-publish s1heightscript user
-
-#-------------------------------------------------------
-proc s1readheight {} {
-	return [expr [SplitReply [s1up]] + [SplitReply [s1lo]]] 
-}
-publish s1readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor s1vg
-s1vg drivescript s1heightscript
-s1vg readscript s1readheight
-
-#--------------------------------------------------------
-proc s1horoffsetscript {val} {
-  set sr [splitreply [s1ri]]
-  set sl [splitreply [s1le]]
-	set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] 
-	set diff [expr $val - $currentoffset]
-	set newd1r [expr $sr + $diff]
-	set newd1l [expr $sl - $diff]
-	return "s1ri=$newd1r,s1le=$newd1l"
-}
-publish s1horoffsetscript user
-
-#-------------------------------------------------------
-proc s1readhoroffset {} {
-  set sr [splitreply [s1ri]]
-	return [ expr $sr - ($sr + [splitreply [s1le]])/2.0 ] 
-}
-publish s1readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s1ho
-s1ho drivescript s1horoffsetscript
-s1ho readscript s1readhoroffset
-
-#--------------------------------------------------------
-proc s1vertoffsetscript {val} {
-  set SU [SplitReply [s1up]]
-  set SD [SplitReply [s1lo]]
-	set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
-	set diff [expr $val - $currentOffset]
-	set newD1U [expr $SU + $diff]
-	set newD1D [expr $SD - $diff]
-	return "s1up=$newD1U,s1lo=$newD1D"
-}
-publish s1vertoffsetscript user
-
-#-------------------------------------------------------
-proc s1readvertoffset {} {
-  set SU [SplitReply [s1up]]
-	return [ expr $SU - ($SU + [SplitReply [s1lo]])/2.0 ] 
-}
-publish s1readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s1vo
-s1vo drivescript s1vertoffsetscript
-s1vo readscript s1readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc s2widthscript {val} {
-	set currentWidth [expr [SplitReply [s2ri]] + [SplitReply [s2le]]]
-	set diff [expr $val - $currentWidth]
-	set newD1R [expr [SplitReply [s2ri]] + $diff/2]
-	set newD1L [expr [SplitReply [s2le]] + $diff/2]
-	return "s2ri=$newD1R,s2le=$newD1L"
-}
-publish s2widthscript user
-
-#-------------------------------------------------------
-proc s2readwidth {} {
-	return [expr [SplitReply [s2ri]] + [SplitReply [s2le]]] 
-}
-publish s2readwidth user
-MakeConfigurableMotor s2hg
-s2hg drivescript s2widthscript
-s2hg readscript s2readwidth
-
-#-----------------------------------------------------
-proc s2heightscript {val} {
-	set currentWidth [expr [SplitReply [s2up]] + [SplitReply [s2lo]]]
-	set diff [expr $val - $currentWidth]
-	set newD1B [expr [SplitReply [s2lo]] + $diff/2]
-	set newD1T [expr [SplitReply [s2up]] + $diff/2]
-	return "s2lo=$newD1B,s2up=$newD1T"
-}
-publish s2heightscript user
-
-#-------------------------------------------------------
-proc s2readheight {} {
-	return [expr [SplitReply [s2up]] + [SplitReply [s2lo]]] 
-}
-publish s2readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor s2vg
-s2vg drivescript s2heightscript
-s2vg readscript s2readheight
-
-#--------------------------------------------------------
-proc s2horoffsetscript {val} {
-  set sr [splitreply [s2ri]]
-  set sl [splitreply [s2le]]
-	set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] 
-	set diff [expr $val - $currentoffset]
-	set newd1r [expr $sr + $diff]
-	set newd1l [expr $sl - $diff]
-	return "s2ri=$newd1r,s2le=$newd1l"
-}
-publish s2horoffsetscript user
-
-#-------------------------------------------------------
-proc s2readhoroffset {} {
-  set sr [splitreply [s2ri]]
-	return [ expr $sr - ($sr + [splitreply [s2le]])/2.0 ] 
-}
-publish s2readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s2ho
-s2ho drivescript s2horoffsetscript
-s2ho readscript s2readhoroffset
-
-#--------------------------------------------------------
-proc s2vertoffsetscript {val} {
-  set SU [SplitReply [s2up]]
-  set SD [SplitReply [s2lo]]
-	set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
-	set diff [expr $val - $currentOffset]
-	set newD1U [expr $SU + $diff]
-	set newD1D [expr $SD - $diff]
-	return "s2up=$newD1U,s2lo=$newD1D"
-}
-publish s2vertoffsetscript user
-
-#-------------------------------------------------------
-proc s2readvertoffset {} {
-  set SU [SplitReply [s2up]]
-	return [ expr $SU - ($SU + [SplitReply [s2lo]])/2.0 ] 
-}
-publish s2readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s2vo
-s2vo drivescript s2vertoffsetscript
-s2vo readscript s2readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc s3widthscript {val} {
-	set currentWidth [expr [SplitReply [s3ri]] + [SplitReply [s3le]]]
-	set diff [expr $val - $currentWidth]
-	set newD1R [expr [SplitReply [s3ri]] + $diff/2]
-	set newD1L [expr [SplitReply [s3le]] + $diff/2]
-	return "s3ri=$newD1R,s3le=$newD1L"
-}
-publish s3widthscript user
-
-#-------------------------------------------------------
-proc s3readwidth {} {
-	return [expr [SplitReply [s3ri]] + [SplitReply [s3le]]] 
-}
-publish s3readwidth user
-MakeConfigurableMotor s3hg
-s3hg drivescript s3widthscript
-s3hg readscript s3readwidth
-
-#-----------------------------------------------------
-proc s3heightscript {val} {
-	set currentWidth [expr [SplitReply [s3up]] + [SplitReply [s3lo]]]
-	set diff [expr $val - $currentWidth]
-	set newD1B [expr [SplitReply [s3lo]] + $diff/2]
-	set newD1T [expr [SplitReply [s3up]] + $diff/2]
-	return "s3lo=$newD1B,s3up=$newD1T"
-}
-publish s3heightscript user
-
-#-------------------------------------------------------
-proc s3readheight {} {
-	return [expr [SplitReply [s3up]] + [SplitReply [s3lo]]] 
-}
-publish s3readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor s3vg
-s3vg drivescript s3heightscript
-s3vg readscript s3readheight
-
-#--------------------------------------------------------
-proc s3horoffsetscript {val} {
-  set sr [splitreply [s3ri]]
-  set sl [splitreply [s3le]]
-	set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] 
-	set diff [expr $val - $currentoffset]
-	set newd1r [expr $sr + $diff]
-	set newd1l [expr $sl - $diff]
-	return "s3ri=$newd1r,s3le=$newd1l"
-}
-publish s3horoffsetscript user
-
-#-------------------------------------------------------
-proc s3readhoroffset {} {
-  set sr [splitreply [s3ri]]
-	return [ expr $sr - ($sr + [splitreply [s3le]])/2.0 ] 
-}
-publish s3readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s3ho
-s3ho drivescript s3horoffsetscript
-s3ho readscript s3readhoroffset
-
-#--------------------------------------------------------
-proc s3vertoffsetscript {val} {
-  set SU [SplitReply [s3up]]
-  set SD [SplitReply [s3lo]]
-	set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
-	set diff [expr $val - $currentOffset]
-	set newD1U [expr $SU + $diff]
-	set newD1D [expr $SD - $diff]
-	return "s3up=$newD1U,s3lo=$newD1D"
-}
-publish s3vertoffsetscript user
-
-#-------------------------------------------------------
-proc s3readvertoffset {} {
-  set SU [SplitReply [s3up]]
-	return [ expr $SU - ($SU + [SplitReply [s3lo]])/2.0 ] 
-}
-publish s3readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s3vo
-s3vo drivescript s3vertoffsetscript
-s3vo readscript s3readvertoffset
-
-###############################################
-
-#--------------------------------------------------------
-proc s4widthscript {val} {
-	set currentWidth [expr [SplitReply [s4ri]] + [SplitReply [s4le]]]
-	set diff [expr $val - $currentWidth]
-	set newD1R [expr [SplitReply [s4ri]] + $diff/2]
-	set newD1L [expr [SplitReply [s4le]] + $diff/2]
-	return "s4ri=$newD1R,s4le=$newD1L"
-}
-publish s4widthscript user
-
-#-------------------------------------------------------
-proc s4readwidth {} {
-	return [expr [SplitReply [s4ri]] + [SplitReply [s4le]]] 
-}
-publish s4readwidth user
-MakeConfigurableMotor s4hg
-s4hg drivescript s4widthscript
-s4hg readscript s4readwidth
-
-#-----------------------------------------------------
-proc s4heightscript {val} {
-	set currentWidth [expr [SplitReply [s4up]] + [SplitReply [s4lo]]]
-	set diff [expr $val - $currentWidth]
-	set newD1B [expr [SplitReply [s4lo]] + $diff/2]
-	set newD1T [expr [SplitReply [s4up]] + $diff/2]
-	return "s4lo=$newD1B,s4up=$newD1T"
-}
-publish s4heightscript user
-
-#-------------------------------------------------------
-proc s4readheight {} {
-	return [expr [SplitReply [s4up]] + [SplitReply [s4lo]]] 
-}
-publish s4readheight user
-
-#---------------------------------------------------------
-MakeConfigurableMotor s4vg
-s4vg drivescript s4heightscript
-s4vg readscript s4readheight
-
-#--------------------------------------------------------
-proc s4horoffsetscript {val} {
-  set sr [splitreply [s4ri]]
-  set sl [splitreply [s4le]]
-	set currentoffset [ expr $sr - ($sr + $sl)/2.0 ] 
-	set diff [expr $val - $currentoffset]
-	set newd1r [expr $sr + $diff]
-	set newd1l [expr $sl - $diff]
-	return "s4ri=$newd1r,s4le=$newd1l"
-}
-publish s4horoffsetscript user
-
-#-------------------------------------------------------
-proc s4readhoroffset {} {
-  set sr [splitreply [s4ri]]
-	return [ expr $sr - ($sr + [splitreply [s4le]])/2.0 ] 
-}
-publish s4readhoroffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s4ho
-s4ho drivescript s4horoffsetscript
-s4ho readscript s4readhoroffset
-
-#--------------------------------------------------------
-proc s4vertoffsetscript {val} {
-  set SU [SplitReply [s4up]]
-  set SD [SplitReply [s4lo]]
-	set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
-	set diff [expr $val - $currentOffset]
-	set newD1U [expr $SU + $diff]
-	set newD1D [expr $SD - $diff]
-	return "s4up=$newD1U,s4lo=$newD1D"
-}
-publish s4vertoffsetscript user
-
-#-------------------------------------------------------
-proc s4readvertoffset {} {
-  set SU [SplitReply [s4up]]
-	return [ expr $SU - ($SU + [SplitReply [s4lo]])/2.0 ] 
-}
-publish s4readvertoffset user
-
-#-------------------------------------------------------
-MakeConfigurableMotor s4vo
-s4vo drivescript s4vertoffsetscript
-s4vo readscript s4readvertoffset
-
-source gen_hipadaba.tcl
-source extraconfig.tcl
+fileeval platypus_motor_configuration.tcl
+fileeval gen_hipadaba.tcl
+fileeval extraconfig.tcl