# START MOTOR CONFIGURATION

# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-echidna
set dmc2280_controller1(port) pmc1-echidna

set dmc2280_controller2(host) mc2-echidna
set dmc2280_controller2(port) pmc2-echidna

set dmc2280_controller3(host) mc3-echidna
set dmc2280_controller3(port) pmc3-echidna

set dmc2280_controller4(host) mc4-echidna
set dmc2280_controller4(port) pmc4-echidna

# Run slit homing routines on controllers 3 and 4
#if [catch {dmc_connect dmc2280_controller3} ] {
#  dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
#  dmc_close dmc2280_controller3
#}
#if [catch {dmc_connect dmc2280_controller4} ] {
#  dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
#  dmc_close dmc2280_controller4
#}

############################
# Motor Controller 1
############################
#:TP at HOME
#

# Monochromator phi, Tilt 1, upper
Motor mphi DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis A\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 7414753\
  cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
mphi precision 0.01

# Monochromator chi, Tilt 2, lower
Motor mchi DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis B\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7818915\
  cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15 
mchi speed 1
mchi precision 0.01

# Monochromator Trans 1, upper
Motor my DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis C\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7781680\
  cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1
my precision 0.01

# Monochromator Trans 2, lower
Motor mx DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis D\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 7562793\
  cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
mx precision 0.01

# Monochromator omega, rotate
Motor mom DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis E\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -12500\
  absEnc 1\
  absEncHome 17694127\
  cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
mom precision 0.01

# Monochromator two-theta, flight-tube rotate
Motor mtth DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis F\
  units degrees\
  maxSpeed 0.5\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 10299428\
  cntsPerX 93207]
mtth hardlowerlim 85
mtth hardupperlim 155
mtth softlowerlim 85
mtth softupperlim 155
mtth home 120
mtth speed 0.5
mtth precision 0.01

# Primary Collimator 1
#Motor pc1 DMC2280 [params \
#  host $dmc2280_controller1(host)\
#  port $dmc2280_controller1(port)\
#  axis G\
#  units xxxx\
#  maxSpeed xxxx\
#  maxAccel xxxx\
#  maxDecel xxxx\
#  stepsPerX xxxx]
#setHomeandRange -motor pc1 -home 0 -lowrange 0 -uprange 0
#pc1 speed 1
#pc1 precision 0.01

# Primary Collimator 2
#Motor pc2 DMC2280 [params \
#  host $dmc2280_controller1(host)\
#  port $dmc2280_controller1(port)\
#  axis H\
#  units xxxx\
#  maxSpeed xxxx\
#  maxAccel xxxx\
#  maxDecel xxxx\
#  stepsPerX xxxx]
#setHomeandRange -motor pc2 -home 0 -lowrange 0 -uprange 0
#pc2 speed 1
#pc2 precision 0.01

############################
# Motor Controller 2
############################
#:TP at HOME
# 7924507, 7542917, 7626584, 24029910, 24984596, 14530407, 22369621, 22369621

# Sample Tilt 1, upper, phi
Motor sphi DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis A\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 7924507\
  cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
sphi speed 1
sphi precision 0.01

# Sample Tilt 2, lower, chi
Motor schi DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis B\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7542917\
  cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
schi speed 1
schi precision 0.01

# Sample Trans 1, upper, y
Motor sy DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis C\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome 7626584\
  cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20 
sy speed 1
sy precision 0.01

# Sample Trans2. lower, x
Motor sx DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis D\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome 24029910\
  cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20 
sx speed 1
sx precision 0.01

# Sample Omega, rotate
Motor som DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis E\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 12500\
  absEnc 1\
  absEncHome 24984596\
  cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
som speed 1
som precision 0.01

# Sample two-theta, detector rotate
Motor stth DMC2280 [params \
  host $dmc2280_controller2(host)\
  port $dmc2280_controller2(port)\
  axis F\
  units degrees\
  maxSpeed 0.5\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX 125000\
  absEnc 1\
  absEncHome 14530407\
  cntsPerX -93207]
stth hardlowerlim -74
stth hardupperlim 74
stth softlowerlim -70
stth softupperlim 70
stth home 0
stth speed 0.5
stth precision 0.01

#Default upper and lower ranges for vertical slits
set vertSlitLowRange 20
set vertSlitUpRange 100

#Default upper and lower ranges for horizontal slits
set horSlitLowRange 15
set horSlitUpRange 35

#Measured or computed slit motor steps per millimetre
set slitStepRate 20180

############################
# Motor Controller 3
############################
#

# Monochromator radius, focus
#Motor mr DMC2280 [params \
#  host $dmc2280_controller3(host)\
#  port $dmc2280_controller3(port)\
#  axis A\
#  units degrees\
#  maxSpeed xxxx\
#  maxAccel xxxx\
#  maxDecel xxxx\
#  stepsPerX xxxx\
#  absEnc 1\
#  absEncHome xxxx\
#  cntsPerX xxxx]
#setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 360
#mr speed 1
#mr precision 0.01

Motor ss1r DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis E\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange

Motor ss1l DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis F\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss1u DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis G\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

Motor ss1d DMC2280 [params \
  host $dmc2280_controller3(host)\
  port $dmc2280_controller3(port)\
  axis H\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

############################
# Motor Controller 4
############################
#

# Little is known about the Eularian Cradle
#Motor ephi DMC2280 [params \
#  host $dmc2280_controller4(host)\
#  port $dmc2280_controller4(port)\
#  axis A\
#  units degrees\
#  maxSpeed xxxx\
#  maxAccel xxxx\
#  maxDecel xxxx\
#  stepsPerX xxxx\
#  absEnc 1\
#  absEncHome xxxx\
#  cntsPerX xxxx]
#setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180

#Motor echi DMC2280 [params \
#  host $dmc2280_controller4(host)\
#  port $dmc2280_controller4(port)\
#  axis B\
#  units degrees\
#  maxSpeed xxxx\
#  maxAccel xxxx\
#  maxDecel xxxx\
#  stepsPerX xxxx\
#  absEnc 1\
#  absEncHome xxxx\
#  cntsPerX xxxx]
#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180

Motor ss2r DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis E\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss2l DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis F\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss2u DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis G\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 204.1/2*$slitStepRate]]
setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

Motor ss2d DMC2280 [params \
  host $dmc2280_controller4(host)\
  port $dmc2280_controller4(port)\
  axis H\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome [expr 204.1/2*$slitStepRate]]
setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
publish mthSet user
publish mthGet user
MakeConfigurableMotor mth
mth readscript mthGet
mth drivescript mthSet

proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
publish sthGet user
publish sthSet user
MakeConfigurableMotor sth
sth readscript sthGet
sth drivescript sthSet

#--------------------------------------------------------
proc ss1widthscript {val} {
  set currentWidth [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]]
  set diff [expr $val - $currentWidth]
  set newD1R [expr [SplitReply [ss1r]] + $diff/2]
  set newD1L [expr [SplitReply [ss1l]] + $diff/2]
  return "ss1r=$newD1R,ss1l=$newD1L"
}
publish ss1widthscript user

#-------------------------------------------------------
proc ss1readwidth {} {
  return [expr [SplitReply [ss1r]] + [SplitReply [ss1l]]] 
}
publish ss1readwidth user
MakeConfigurableMotor ss1hg
ss1hg drivescript ss1widthscript
ss1hg readscript ss1readwidth

#--------------------------------------------------------
proc ss1horoffsetscript {val} {
  set SR [SplitReply [ss1r]]
  set SL [SplitReply [ss1l]]
  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
  set diff [expr $val - $currentOffset]
  set newD1R [expr $SR + $diff]
  set newD1L [expr $SL - $diff]
  return "ss1r=$newD1R,ss1l=$newD1L"
}
publish ss1horoffsetscript user

#-------------------------------------------------------
proc ss1readhoroffset {} {
  set SR [SplitReply [ss1r]]
  return [ expr $SR - ($SR + [SplitReply [ss1l]])/2.0 ] 
}
publish ss1readhoroffset user

#-------------------------------------------------------
MakeConfigurableMotor ss1ho
ss1ho drivescript ss1horoffsetscript
ss1ho readscript ss1readhoroffset

#-----------------------------------------------------
proc ss1heightscript {val} {
  set currentWidth [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]]
  set diff [expr $val - $currentWidth]
  set newD1B [expr [SplitReply [ss1d]] + $diff/2]
  set newD1T [expr [SplitReply [ss1u]] + $diff/2]
  return "ss1d=$newD1B,ss1u=$newD1T"
}
publish ss1heightscript user

#-------------------------------------------------------
proc ss1readheight {} {
  return [expr [SplitReply [ss1u]] + [SplitReply [ss1d]]] 
}
publish ss1readheight user

#---------------------------------------------------------
MakeConfigurableMotor ss1vg
ss1vg drivescript ss1heightscript
ss1vg readscript ss1readheight

#--------------------------------------------------------
proc ss1vertoffsetscript {val} {
  set SU [SplitReply [ss1u]]
  set SD [SplitReply [ss1d]]
  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
  set diff [expr $val - $currentOffset]
  set newD1U [expr $SU + $diff]
  set newD1D [expr $SD - $diff]
  return "ss1u=$newD1U,ss1d=$newD1D"
}
publish ss1vertoffsetscript user

#-------------------------------------------------------
proc ss1readvertoffset {} {
  set SU [SplitReply [ss1u]]
  return [ expr $SU - ($SU + [SplitReply [ss1d]])/2.0 ] 
}
publish ss1readvertoffset user

#-------------------------------------------------------
MakeConfigurableMotor ss1vo
ss1vo drivescript ss1vertoffsetscript
ss1vo readscript ss1readvertoffset
###############################################


#--------------------------------------------------------
proc ss2widthscript {val} {
  set currentWidth [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]]
  set diff [expr $val - $currentWidth]
  set newD1R [expr [SplitReply [ss2r]] + $diff/2]
  set newD1L [expr [SplitReply [ss2l]] + $diff/2]
  return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2widthscript user

#-------------------------------------------------------
proc ss2readwidth {} {
  return [expr [SplitReply [ss2r]] + [SplitReply [ss2l]]] 
}
publish ss2readwidth user
MakeConfigurableMotor ss2hg
ss2hg drivescript ss2widthscript
ss2hg readscript ss2readwidth

#--------------------------------------------------------
proc ss2horoffsetscript {val} {
  set SR [SplitReply [ss2r]]
  set SL [SplitReply [ss2l]]
  set currentOffset [ expr $SR - ($SR + $SL)/2.0 ] 
  set diff [expr $val - $currentOffset]
  set newD1R [expr $SR + $diff]
  set newD1L [expr $SL - $diff]
  return "ss2r=$newD1R,ss2l=$newD1L"
}
publish ss2horoffsetscript user

#-------------------------------------------------------
proc ss2readhoroffset {} {
  set SR [SplitReply [ss2r]]
  return [ expr $SR - ($SR + [SplitReply [ss2l]])/2.0 ] 
}
publish ss2readhoroffset user

#-------------------------------------------------------
MakeConfigurableMotor ss2ho
ss2ho drivescript ss2horoffsetscript
ss2ho readscript ss2readhoroffset

#-----------------------------------------------------
proc ss2heightscript {val} {
  set currentWidth [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]]
  set diff [expr $val - $currentWidth]
  set newD1B [expr [SplitReply [ss2d]] + $diff/2]
  set newD1T [expr [SplitReply [ss2u]] + $diff/2]
  return "ss2d=$newD1B,ss2u=$newD1T"
}
publish ss2heightscript user

#-------------------------------------------------------
proc ss2readheight {} {
  return [expr [SplitReply [ss2u]] + [SplitReply [ss2d]]] 
}
publish ss2readheight user

#---------------------------------------------------------
MakeConfigurableMotor ss2vg
ss2vg drivescript ss2heightscript
ss2vg readscript ss2readheight

#--------------------------------------------------------
proc ss2vertoffsetscript {val} {
  set SU [SplitReply [ss2u]]
  set SD [SplitReply [ss2d]]
  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ] 
  set diff [expr $val - $currentOffset]
  set newD1U [expr $SU + $diff]
  set newD1D [expr $SD - $diff]
  return "ss2u=$newD1U,ss2d=$newD1D"
}
publish ss2vertoffsetscript user

#-------------------------------------------------------
proc ss2readvertoffset {} {
  set SU [SplitReply [ss2u]]
  return [ expr $SU - ($SU + [SplitReply [ss2d]])/2.0 ] 
}
publish ss2readvertoffset user

#-------------------------------------------------------
MakeConfigurableMotor ss2vo
ss2vo drivescript ss2vertoffsetscript
ss2vo readscript ss2readvertoffset

# END MOTOR CONFIGURATION