From b3a2c5c976eb69e8c7291f8d91640b46ce74c45e Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Sun, 28 Apr 2013 17:15:45 +1000
Subject: [PATCH] Merge in changes from taipan branch.

---
 .../tas/config/motors/motor_configuration.tcl | 68 ++++++++++++++-----
 1 file changed, 52 insertions(+), 16 deletions(-)

diff --git a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
index 0e2f7c24..7f0d597b 100644
--- a/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/tas/config/motors/motor_configuration.tcl
@@ -205,8 +205,11 @@ 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]
+# 18/1/2013 updated absenchome for 20 degree reference
+# old 20 absEncHome 2772424
+# new 20 absEncHome 2773144
+set m2_cntsPerX [expr -1.0 / 0.00020925]
+set m2_stepsPerX [expr -25000 * $m2_cntsPerX / 989.44]
 Motor m2 $motor_driver_type [params \
   asyncqueue mc1\
   host mc1-taipan\
@@ -221,7 +224,7 @@ Motor m2 $motor_driver_type [params \
   maxDecel 0.1\
   stepsPerX $m2_stepsPerX\
   absEnc 1\
-  absEncHome 23164830\
+  absEncHome 2773144\
   cntsPerX $m2_cntsPerX]
 m2 part crystal 
 m2 long_name m2
@@ -230,7 +233,7 @@ m2 softupperlim 80
 m2 home 20
 m2 motOnDelay  2000
 m2 motOffDelay 0
-m2 backlash_offset -0.1
+m2 backlash_offset 0.1
 m2 creep_offset 0.1
 m2 creep_precision 0.02088
 
@@ -385,6 +388,7 @@ s1 home 35.997
 s1 backlash_offset -0.2
 
 # mc2: Analyser Detector Rotate -- Sample Scattering Angle
+# absEncHome 20728908\ at -50
 Motor s2 $motor_driver_type [params \
   asyncqueue mc2\
   host mc2-taipan\
@@ -392,24 +396,26 @@ Motor s2 $motor_driver_type [params \
   axis F\
   units degrees\
   precision 0.01\
-  hardlowerlim -95\
+  hardlowerlim -128\
   hardupperlim 30\
   maxSpeed 1.5\
   maxAccel 0.5\
   maxDecel 0.5\
   stepsPerX 125000\
   absEnc 1\
-  absEncHome 20728908\
+  absEncHome 20305788\
   cntsPerX -93206.7556]
 s2 part sample 
 s2 long_name s2
 s2 softlowerlim -78
 s2 softupperlim -1.9
-s2 home -49.9998
+#s2 home -49.9998
+s2 home -90
 s2 motOnDelay  1000
 s2 motOffDelay 0
 s2 settle 0
 s2 backlash_offset 0.5
+s2 blockage_thresh 1
 s2 creep_offset 0.015
 s2 creep_precision 0.01
 s2 speed 1.07
@@ -502,21 +508,21 @@ Motor mhfocus $motor_driver_type [params \
   axis B\
   units degrees\
   precision 0.2\
-  hardlowerlim 0\
-  hardupperlim 300\
+  hardlowerlim -80\
+  hardupperlim 240\
   maxSpeed 3.6\
   maxAccel 1.728\
   maxDecel 1.728\
   stepsPerX [expr 25000.0 * 50.0 / 360.0]\
   absEnc 1\
   bias_bits 12\
-  bias_bias 2752\
-  absEncHome 4000\
+  bias_bias 1540\
+  absEncHome 2788\
   cntsPerX [expr -4096.0 / 360.0]]
 mhfocus part crystal
 mhfocus long_name mhfocus
-mhfocus softlowerlim 0
-mhfocus softupperlim 300
+mhfocus softlowerlim -75
+mhfocus softupperlim 235
 mhfocus home 0
 mhfocus Blockage_Thresh 2
 mhfocus Blockage_Check_Interval 2
@@ -592,6 +598,9 @@ atrans home -0.0006
 atrans backlash_offset -0.5
 
 # mc4: Analyzer Rotate
+# absEncHome 24813762
+# absEncHome 26520998
+# absEncHome 24781281
 Motor a1 $motor_driver_type [params \
   asyncqueue mc4\
   host mc4-taipan\
@@ -605,13 +614,15 @@ Motor a1 $motor_driver_type [params \
   maxDecel 2\
   stepsPerX 12500\
   absEnc 1\
-  absEncHome 24813762\
+  absEncHome 202804\
   cntsPerX 4096]
 a1 part crystal
 a1 long_name a1
 a1 softlowerlim -5.1
 a1 softupperlim 45
-a1 home 20.4586
+#a1 home 20.4586
+#a1 home 34.9
+a1 home 0
 a1 backlash_offset 0.2
 
 # mc4: Virtural Source Left Translation
@@ -923,16 +934,26 @@ proc set_vei {mEv} {
 MakeConfigurableMotor vwi
 vwi readscript get_vwi
 vwi drivescript set_vwi
+sicslist setatt vwi units Angstrom
+sicslist setatt vwi klass sample
+sicslist setatt vwi long_name vei
 MakeConfigurableMotor vei
 vei readscript get_vei
 vei drivescript set_vei
+sicslist setatt vei units meV
+sicslist setatt vei klass sample
+sicslist setatt vei long_name vei
 
 publish get_vwi user
 publish set_vwi user
 publish get_vei user
 publish set_vei user
 
+# magnet
+if {0} {
 # Convert magnet angle to s1 angle
+	VarMake vs1speed float user
+	vs1speed 1
 proc get_vs1 {} {
   set angle [GetMagOmPos]
   return $angle
@@ -940,7 +961,17 @@ proc get_vs1 {} {
 
 # Convert s1 angle to magnet angle
 proc set_vs1 {angle} {
-  MagOmMove $angle
+	  set vs1_pos [SplitReply [GetMagOmPos]]
+	  set dummy_prec [SplitReply [dummy_s1 precision]]
+	  if {[expr abs($vs1_pos - $angle)] <= $dummy_prec} {
+	    return
+	  }
+	  set speed [SplitReply [vs1speed]]
+	  if {$angle < $vs1_pos} {
+	    set blo [expr $angle - 1]
+	    MagOmMove $blo $speed
+	  }
+	  MagOmMove $angle $speed
   set result "dummy_motor=$angle"
   return $result
 }
@@ -949,5 +980,10 @@ MakeConfigurableMotor vs1
 vs1 readscript get_vs1
 vs1 drivescript set_vs1
 
+	sicslist setatt vs1 units degrees
+	sicslist setatt vs1 klass sample
+	sicslist setatt vs1 long_name vs1
+
 publish get_vs1 user
 publish set_vs1 user
+}