# This must be loaded by motor_configuration.tcl

set ephi_Home 6647698 
set echi_Home 8919294
set eom_Home 23165482

# Sample Tilt 1, euler omega stage
Motor eom $motor_driver_type [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -45\
  hardupperlim 80\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
setHomeandRange -motor eom -home 0 -lowrange 35 -uprange 80
eom speed 1
eom movecount $move_count
eom precision 0.01
eom part sample
eom long_name euler_omega

# Sample Tilt 2, euler chi stage
Motor echi $motor_driver_type [params \
  asyncqueue mc2\
  axis B\
  units degrees\
  hardlowerlim -32\
  hardupperlim 97\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome $echi_Home\
  cntsPerX 8192]
setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
echi softlowerlim -10
echi softupperlim 90
echi home 0
echi speed 1
echi movecount $move_count
echi precision 0.01
echi part sample
echi long_name euler_chi

# Sample Trans 1, upper, y
Motor ephi $motor_driver_type [params \
  asyncqueue mc2\
  axis C\
  units degrees\
  hardlowerlim -185\
  hardupperlim 185\
  maxSpeed 5\
  maxAccel 5\
  maxDecel 1\
  stepsPerX -12500\
  absEnc 1\
  absEncHome $ephi_Home\
  cntsPerX -4096]
setHomeandRange -motor ephi -home 0 -lowrange 180 -uprange 180
ephi softlowerlim -180
ephi softupperlim 180
ephi home 0
ephi speed 1
ephi movecount $move_count
ephi precision 0.01
ephi part sample
ephi long_name euler_phi