From 872e85221548dca43bfc5725a0d98e7f201b231f Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Thu, 29 Mar 2012 12:35:12 +1100
Subject: [PATCH] M2 for wedge control, analyzers unbiased

Use Dan's computed values for M2 and make steps=counts for the wedge control
Make analyzer motors use unbiased absolute encoder values
r3506 | dcl | 2012-03-29 12:35:12 +1100 (Thu, 29 Mar 2012) | 4 lines
---
 .../tas/config/motors/motor_configuration.tcl | 30 ++++++++++---------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index 54e03b6a..6e916af2 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -181,6 +181,12 @@ mtrans softupperlim 195
 mtrans home 0.0
 
 # mc1: Fight Tube Rotate
+# stepsPerX was 120000 for motor, -150 for encoder
+# these values come from dan's calculated values in the Galil controller
+set m2_cntsPerX [expr -1.0 / 0.006696]
+set m2_stepsPerX [expr 25000 * $m2_cntsPerX / -30.92]
+# now set stepsPerX same as cntsPerX for Dan's 
+set m2_stepsPerX $m2_cntsPerX
 Motor m2 $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-taipan\
@@ -192,10 +198,10 @@ Motor m2 $motor_driver_type [params \
   maxSpeed 1\
   maxAccel 0.1\
   maxDecel 0.1\
-  stepsPerX 120000\
+  stepsPerX $m2_stepsPerX\
   absEnc 1\
   absEncHome 188182\
-  cntsPerX -150]
+  cntsPerX $m2_cntsPerX]
 m2 part crystal 
 m2 long_name m2
 m2 softlowerlim 17
@@ -385,9 +391,7 @@ Motor ahfocus $motor_driver_type [params \
   maxDecel 10\
   stepsPerX [expr 25000.0 / 360.0]\
   absEnc 1\
-  absEncHome 100\
-  bias_bits 13\
-  bias_bias 2570\
+  absEncHome 8475494\
   cntsPerX [expr 8192.0/360.0]]
 ahfocus part crystal 
 ahfocus long_name ahfocus
@@ -411,12 +415,10 @@ Motor avfocus $motor_driver_type [params \
   maxSpeed 10\
   maxAccel 10\
   maxDecel 10\
-  stepsPerX [expr 25000.0 / 360.0]\
+  stepsPerX [expr -25000.0 / 360.0]\
   absEnc 1\
-  absEncHome 100\
-  bias_bits 13\
-  bias_bias 5693\
-  cntsPerX [expr 8192.0 / 360.0]]
+  absEncHome 15936344\
+  cntsPerX [expr -8192.0 / 360.0]]
 avfocus part crystal
 avfocus long_name avfocus
 avfocus softlowerlim 0
@@ -825,10 +827,10 @@ proc motor_set_sobj_attributes {} {
 }
 
 # Make virtual gap and offset motors for slits
-make_gap_motors ss1vg gap ss1vo offset pa_top pa_bottom mm slits
-make_gap_motors ss1hg gap ss1ho offset pa_left pa_right mm slits
-make_gap_motors ss2vg gap ss2vo offset ps_top ps_bottom mm slits
-make_gap_motors ss2hg gap ss2ho offset ps_left ps_right mm slits
+make_gap_motors ss1vg gap ss1vo offset pa_top pa_bottom mm analyzer/vertical
+make_gap_motors ss1hg gap ss1ho offset pa_left pa_right mm analyzer/horizontal
+make_gap_motors ss2vg gap ss2vo offset ps_top ps_bottom mm sample/vertical
+make_gap_motors ss2hg gap ss2ho offset ps_left ps_right mm sample/horizontal
 # END MOTOR CONFIGURATION