Merge from Quokka sans sct_flipper, environment, motor_config

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

@@ -65,7 +65,7 @@ set bs2_Home  9942
 set bs3_Home 30928
 set bs4_Home 22111
 set bs5_Home 14558
-set bs6_Home 27251
+set bs6_Home 16855
 
 set bs_cntsPerX  [expr 32768.0/360.0]
 set bs_stepsPerX [expr -25000.0*160.0/360.0]
@@ -875,9 +875,10 @@ bs1 long_name bs1
 bs1 softlowerlim 11
 bs1 softupperlim 95
 bs1 home 90
-bs1 precision 1.5
+bs1 precision 0.05
 bs1 creep_precision 0.05
 bs1 creep_offset 1
+bs1 blockage_fail 0
 
 Motor bs2 $motor_driver_type [params \
   asyncqueue mc4\
@@ -898,9 +899,10 @@ bs2 long_name bs2
 bs2 softlowerlim 7
 bs2 softupperlim 95
 bs2 home 90
-bs2 precision 1.5
+bs2 precision 0.05
 bs2 creep_precision 0.05
 bs2 creep_offset 1
+bs2 blockage_fail 0
 
 Motor bs3 $motor_driver_type [params \
   asyncqueue mc4\
@@ -921,9 +923,10 @@ bs3 long_name bs3
 bs3 softlowerlim 11
 bs3 softupperlim 95
 bs3 home 90
-bs3 precision 1.5
+bs3 precision 0.05
 bs3 creep_precision 0.05
 bs3 creep_offset 1
+bs3 blockage_fail 0
 
 Motor bs4 $motor_driver_type [params \
   asyncqueue mc4\
@@ -944,9 +947,10 @@ bs4 long_name bs4
 bs4 softlowerlim 7
 bs4 softupperlim 95
 bs4 home 90
-bs4 precision 1.5
+bs4 precision 0.05
 bs4 creep_precision 0.05
 bs4 creep_offset 1
+bs4 blockage_fail 0
 
 Motor bs5 $motor_driver_type [params \
   asyncqueue mc4\
@@ -967,10 +971,12 @@ bs5 long_name bs5
 bs5 softlowerlim 11
 bs5 softupperlim 95
 bs5 home 90
-bs5 precision 1.5
+bs5 precision 0.05
 bs5 creep_precision 0.05
 bs5 creep_offset 1
+bs5 blockage_fail 0
 
+set bs6_stepsPerX [expr -1.0 * $bs_stepsPerX]
 Motor bs6 $motor_driver_type [params \
   asyncqueue mc4\
   axis H\
@@ -980,7 +986,7 @@ Motor bs6 $motor_driver_type [params \
   maxSpeed 2\
   maxAccel 1\
   maxDecel 1\
-  stepsPerX $bs_stepsPerX\
+  stepsPerX $bs6_stepsPerX\
   absEnc 1\
   absEncHome $bs6_Home\
   cntsPerX $bs_cntsPerX]
@@ -990,9 +996,10 @@ bs6 long_name bs6
 bs6 softlowerlim 7
 bs6 softupperlim 95
 bs6 home 90
-bs6 precision 1.5
+bs6 precision 0.05
 bs6 creep_precision 0.05
 bs6 creep_offset 1
+bs6 blockage_fail 0
 
 # Polarizer Rotation
 #Motor pol $motor_driver_type [params \