Merge branch 'Kookaburra' into temp

Conflicts:
	sics/site_ansto/instrument/config/environment/sct_knauer_pump.tcl
	sics/site_ansto/instrument/config/environment/temperature/sct_oxford_mercury.tcl
	sics/site_ansto/instrument/kookaburra/config/anticollider/acscript.txt

site_ansto/instrument/kookaburra/config/anticollider/acscript.txt

@@ -7,3 +7,7 @@ forbid {-inf 200} for m2y when m2om in {10 170}
 # Following two rules allow recovery if m2om position has crept above 10 or below 170
 forbid {11 inf} for m2om whenall {m2y in {-inf 200} m2om in {10 11}}
 forbid {-inf 169} for m2om whenall {m2y in {-inf 200} m2om in {169 170}}
+
+# Protect long Cd tunnel
+forbid {-5.65 inf} for m2x when m2om in {170 182}
+forbid {55.43 inf} for m2x when m2om in {-2 10}

site_ansto/instrument/kookaburra/config/anticollider/anticollider.tcl

@@ -12,3 +12,24 @@ proc ::anticollider::enable {args} {
 }
 
 ::anticollider::loadscript acscript.txt
+
+# Default enable or disable anticollision for all axes
+# TODO: Provide a list of motors to enable or disable
+proc anticollider {args} {
+  set usage  "Usage: anticollider (enable | disable)"
+  if {$args == "enable"} {
+    # TODO change protect_detector to just 'protect'
+    ::anticollider::protect_detector "true"
+  } elseif {$args == "disable"} {
+    ::anticollider::protect_detector "false"
+  } elseif {$args == "help"} {
+    clientput $usage
+  } else {
+    if {[SplitReply [::anticollider::protect_detector]] == "false"} {
+      clientput "Anticollision disabled on all axes"
+    } else {
+      clientput "Anticollision enabled on all axes"
+    }
+  }
+}
+publish anticollider user

site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl

@@ -235,7 +235,7 @@ Motor m1chi $motor_driver_type [params \
   cntsPerX [expr 131072*100.0/68.681]\
   nopowersave 1]
 m1chi precision 0.001
-m1chi speed 0.200
+m1chi speed 0.137362
 m1chi part crystal
 m1chi long_name m1chi
 m1chi softlowerlim -2
@@ -435,7 +435,7 @@ Motor samz $motor_driver_type [params \
   stepsPerX [expr 25000.0 * 100 / 10.0]\
   cntsPerX 819.2\
   absEnc 1\
-  absEncHome 72607]
+  absEncHome 75330]
 samz part sample
 samz long_name samz
 samz softlowerlim 0
@@ -590,7 +590,7 @@ Motor m2chi $motor_driver_type [params \
   cntsPerX [expr 131072*100.0/68.681]\
   nopowersave 1]
 m2chi precision 0.001
-m2chi speed 0.200
+m2chi speed 0.137362
 m2chi part crystal
 m2chi long_name m2chi
 m2chi softlowerlim -2
@@ -610,7 +610,7 @@ Motor m2om $motor_driver_type [params \
   port pmc3-kookaburra\
   axis F\
   units degrees\
-  hardlowerlim 0\
+  hardlowerlim -2\
   hardupperlim 182\
   maxSpeed [expr 300000.0/$m2omSetRate]\
   maxAccel [expr 25000.0/$m2omSetRate]\
@@ -673,7 +673,7 @@ Motor m2y $motor_driver_type [params \
   axis H\
   units mm\
   hardlowerlim -4.35\
-  hardupperlim 357.9\
+  hardupperlim 400\
   maxSpeed [expr 100000.0/$m2ySetRate]\
   maxAccel [expr 25000.0/$m2ySetRate]\
   maxDecel [expr 25000.0/$m2ySetRate]\
@@ -685,7 +685,7 @@ m2y speed 0.5
 m2y part crystal
 m2y long_name m2y
 m2y softlowerlim -4.3
-m2y softupperlim 355
+m2y softupperlim 399
 m2y home 0
 
 

site_ansto/instrument/kookaburra/config/scan/scan.tcl

@@ -32,7 +32,7 @@ proc thresholdscan {minVoltage maxVoltage stepVoltage minBMThreshold manBMThresh
 
   clientput "Start scanning loop now"
   for {set vol $minVoltage} {$vol <= $maxVoltage} {incr vol $stepVoltage} {
-    emHV1 $vol
+#   emHV1 $vol
     set curCount ""
     for {set thres $minBMThreshold} {$thres <= $manBMThreshold} {incr thres $stepBMThreshold} {
       clientput "set thredshold to $thres"

site_ansto/instrument/kookaburra/kookaburra_configuration.tcl

@@ -45,6 +45,8 @@ fileeval $cfPath(environment)/temperature/sct_mercury_valve.tcl
 fileeval $cfPath(environment)/sct_protek_common.tcl
 fileeval $cfPath(environment)/sct_protekmm.tcl
 fileeval $cfPath(environment)/temperature/sct_julabo_lh45_gen.tcl
+fileeval $cfPath(environment)/sct_rheometer.tcl
+fileeval $cfPath(environment)/sct_antonparr_MCR500.tcl
 fileeval $cfPath(counter)/sct_bm.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl
 fileeval $cfPath(nexus)/nxscripts.tcl
@@ -54,6 +56,7 @@ fileeval $cfPath(commands)/commands.tcl
 fileeval $cfPath(anticollider)/anticollider.tcl
 fileeval $cfPath(parameters)/parameters.tcl
 
+
 source gumxml.tcl
 
 ::utility::mkVar ::anticollider::protect_detector text manager protect_detector false detector true false