Merge branch 'Dingo' into RELEASE-3_1

Conflicts:
	sics/site_ansto/instrument/dingo/util/sics_config.ini

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

@@ -16,6 +16,12 @@ if {$sim_mode == "true"} {
   #MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
 }
 
+set sample_stage_rotate "normal_sample_stage"
+if { [ info exists ::config_dict ] } {
+  if { [ dict exists $::config_dict sample_stage implementation ] } {
+    set sample_stage_rotate [ dict get $::config_dict sample_stage implementation ]
+  }
+}
 
 # Dummy translation motor, useful for testing scans
 set dummy_Home    0
@@ -135,6 +141,7 @@ sy softlowerlim -50
 sy softupperlim 230
 sy home 0
 
+if {[string equal -nocase ${sample_stage_rotate} "normal_sample_stage"]} {
   # mc1: Sample rotation axis
   # Gearbox 100:1, screw pitch 356:1
   # Encoder 2P17
@@ -150,7 +157,7 @@ Motor stth $motor_driver_type [params \
     units degree\
     hardlowerlim -722\
     hardupperlim 722\
-  maxSpeed 0.12\
+    maxSpeed 2.0\
     maxAccel 1\
     maxDecel 1\
     stepsPerX $stthStepRate\
@@ -158,7 +165,7 @@ Motor stth $motor_driver_type [params \
     absEncHome $stth_Home\
     nopowersave 1\
     cntsPerX 93206.75556 ]
-stth speed 0.1
+  stth speed 0.5
   stth accel 0.1
   stth decel 0.1
   stth part sample
@@ -170,6 +177,7 @@ stth home 0
   #stth bias_bias -33432264
   stth rotary_bits 25
   stth creep_offset 0.05
+}
 
 # mc1: detection Z-stage Translation
 # Gearbox 5:1, Gear ratio 16:1, pitch 4mm
@@ -199,6 +207,7 @@ dz softlowerlim 0
 dz softupperlim 170
 dz home 0
 
+if {[string equal -nocase ${sample_stage_rotate} "soma"]} {
   # mc1:H Sample rotation axis
   # Resolver 2,048 counts per degree
   # Motor 12,500 steps per degree
@@ -233,6 +242,46 @@ soma home 0
   #soma bias_bits 25
   #soma rotary_bits 25
   soma creep_offset 0.05
+}
+
+if {[string equal -nocase ${sample_stage_rotate} "somb"]} {
+  # mc1:D,H Sample rotation axis
+  # Resolver 4,096 counts per degree
+  # Motor 10*25,000 steps per degree
+  # Positive steps are CCW viewed from above
+  set somb_Home [expr 2**23]
+  #set sombStepRate [expr -$motorrate*100.0]
+  set sombStepRate [expr 10 * 25000]
+  Motor somb $motor_driver_type [params \
+    asyncqueue mc1\
+    host mc1-dingo\
+    port pmc1-dingo\
+    axis D\
+    encoderaxis H\
+    units degree\
+    hardlowerlim -722\
+    hardupperlim 722\
+    maxSpeed 0.4\
+    maxAccel 1\
+    maxDecel 1\
+    stepsPerX $sombStepRate\
+    absEnc 1\
+    absEncHome $somb_Home\
+    nopowersave 1\
+    cntsPerX 4096 ]
+  somb speed 0.1
+  somb accel 0.1
+  somb decel 0.1
+  somb part sample
+  somb long_name somb
+  somb softlowerlim -1
+  somb softupperlim 361
+  somb home 0
+  somb bias_bits 24
+  somb bias_bias [expr 2**23]
+  #somb rotary_bits 25
+  somb creep_offset 0.05
+}
 
 
 ############################

site_ansto/instrument/dingo/util/sics_config.ini

@@ -124,6 +124,28 @@ terminator = \r\n
 tol1 = 1.0
 tol2 = 1.0
 
+[ls336_05]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
+[ls336_06]
+asyncqueue = sct
+desc = "Lakeshore 336 temperature controller"
+driver = "ls336"
+imptype = temperature
+ip = 137.157.201.21
+port = 7777
+terminator = \r\n
+tol1 = 1.0
+tol2 = 1.0
+
 [ls336_11]
 desc = "Lakeshore 336 temperature controller"
 driver = "ls336"
@@ -207,3 +229,10 @@ imptype = multimeter
 ip = 10.157.205.37
 port = 4001
 
+[soma]
+desc = "This is alternative Sample Omega A"
+imptype = motion_axis
+
+[somb]
+desc = "This is alternative Sample Omega B"
+imptype = motion_axis