From e3a158ad54bdc025c0e84ad70ff3830f0d76b55d Mon Sep 17 00:00:00 2001
From: Jing Chen <jgn@ansto.gov.au>
Date: Tue, 3 Jan 2012 10:38:15 +1100
Subject: [PATCH] add fixed parameters r3318 | jgn | 2012-01-03 10:38:15 +1100
 (Tue, 03 Jan 2012) | 1 line

---
 .../pelican/config/commands/monodrive.tcl     | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/commands/monodrive.tcl b/site_ansto/instrument/pelican/config/commands/monodrive.tcl
index cf0b0620..66883a78 100644
--- a/site_ansto/instrument/pelican/config/commands/monodrive.tcl
+++ b/site_ansto/instrument/pelican/config/commands/monodrive.tcl
@@ -100,24 +100,25 @@ proc DriveMono {mot focus} {
 	# move the three motors 
 	if {$moveFlag == 1} {
 		# Unlock the three motors
-	        mra fixed 1
-	        mrb fixed 1
-	        mrc fixed 1
+	        mra fixed -1
+	        mrb fixed -1
+	        mrc fixed -1
 
-		# use momb as roating reference
-		drive moma $currAngleMomb momc $currAngleMomb
+		drive momb $currAngleMoma momc $currAngleMoma
 	        drive mra [expr $mraPosition + $translateDis]
 		drive mrb [expr $mrbPosition + $translateDis]
 		drive mrc [expr $mrcPosition + $translateDis]
-        	drive moma $currAngleMoma momc $currAngleMomc
+        	drive momb $currAngleMomb momc $currAngleMomc
 
 		# Lock the three motors again
-	        mra fixed -1
-        	mrb fixed -1
-	        mrc fixed -1
+	        mra fixed 1
+        	mrb fixed 1
+	        mrc fixed 1
 	}
 }
 
+
+
 publish DriveMono user