Define Echidna sics_config.ini with configurable sample stage.

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

@@ -95,9 +95,52 @@ set slit2HGroup second/horizontal
 # hnotify messages to a reasonable level
 set move_count 10
 
-fileeval $cfPath(motors)/tilt_configuration.tcl
-#fileeval $cfPath(motors)/small_omega.tcl
-#fileeval $cfPath(motors)/euler_configuration.tcl
+##########################################
+# Set axis_config as follows to use different axis configurations
+# 0: tilt stage configuration
+# 1: eulerian cradle
+# 2: small omega
+# 3: Oxford magnet sample stick
+set axis_config 0
+
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set implementation [ dict get $::config_dict sample_stage implementation ]
+    if {$implementation == "normal_sample_stage"} {
+      set axis_config 0
+    } elseif {$implementation == "eularian_cradle"} {
+      set axis_config 1
+    } elseif {$implementation == "small_omega"} {
+      set axis_config 2
+    } elseif {$implementation == "12tmagnet_sample_insert"} {
+      set axis_config 3
+    } else {
+      set axis_config 0
+    }
+  }
+}
+
+switch $axis_config {
+  0 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/tilt_configuration.tcl
+  }
+  1 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/euler_configuration.tcl
+  }
+  2 {
+    set sample_stage_rotate "som"
+    fileeval $cfPath(motors)/small_omega_config.tcl
+  }
+  3 {
+  # Rename the sample stage som to somss because
+  # som now controls the magnet sample stick
+    set sample_stage_rotate "somss"
+    fileeval $cfPath(motors)/magnet_configuration.tcl
+  }
+}
+
 ############################
 # Motor Controller 1
 # Motor Controller 1
@@ -359,7 +402,7 @@ scr long_name secondary_collimator_rotation
 ############################
 
 # Sample Omega, rotate
-Motor som $motor_driver_type [params \
+Motor $sample_stage_rotate $motor_driver_type [params \
   asyncqueue mc2\
   axis E\
   units degrees\
@@ -372,12 +415,12 @@ Motor som $motor_driver_type [params \
   absEnc 1\
   absEncHome $som_Home\
   cntsPerX 4096]
-setHomeandRange -motor som -home 0 -lowrange 169 -uprange 167
-som speed 1
-som movecount $move_count
-som precision 0.01
-som part sample
-som long_name rotate
+setHomeandRange -motor $sample_stage_rotate -home 0 -lowrange 169 -uprange 167
+$sample_stage_rotate speed 1
+$sample_stage_rotate movecount $move_count
+$sample_stage_rotate precision 0.01
+$sample_stage_rotate part sample
+$sample_stage_rotate long_name rotate
 
 # Sample two-theta, detector rotate
 Motor stth $motor_driver_type [params \