# $Revision: 1.13 $
# $Date: 2007-02-01 06:05:55 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $

# START MOTOR CONFIGURATION

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

set dmc2280_controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal

set dmc2280_controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal

set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal

#Measured absolute encoder reading at home position
set mphi_Home 7415177
set mchi_Home 7818798
set my_Home 7779997
set mx_Home 7580365
set mom_Home 13442932
set mtth_Home 11477617
set pcx_Home 8345644
set pcr_Home 6197934
set sphi_Home 7924507
set schi_Home 7542917
set sy_Home 7626584
set sx_Home 24029910
set som_Home 24984596
set stth_Home 14530407

#Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125
set slitStepRate  20125

#Measured slit gap, in units, after homing on limit switches
set ss1h_Gap       54.0
set ss1v_Gap      207.5
set ss2h_Gap       52.0
set ss2v_Gap      203.4

set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]

#Default upper and lower ranges for vertical slits
set vertSlitLowRange 25
set vertSlitUpRange 100

#Default upper and lower ranges for horizontal slits
set horSlitLowRange 25
set horSlitUpRange 25

# 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
# Motor Controller 1
# 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 $mphi_Home\
  cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 15 -uprange 15
mphi speed 1
mphi movecount 100
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 $mchi_Home\
  cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 15 -uprange 15
mchi speed 1
mchi movecount 100
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 $my_Home\
  cntsPerX 8192]
setHomeandRange -motor my -home 0 -lowrange 20 -uprange 20
my speed 1
my movecount 100
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 $mx_Home\
  cntsPerX -8192]
setHomeandRange -motor mx -home 0 -lowrange 20 -uprange 20
mx speed 1
mx movecount 100
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 $mom_Home\
  cntsPerX -4096]
setHomeandRange -motor mom -home 0 -lowrange 180 -uprange 180
mom speed 1
mom movecount 100
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 0.2\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX [expr 25000*18]\
  absEnc 1\
  absEncHome $mtth_Home\
  cntsPerX -93207]
mtth hardlowerlim 90
mtth hardupperlim 137
mtth softlowerlim 90
mtth softupperlim 137
mtth home 90
mtth speed 0.2
mtth movecount 100
mtth accel 0.01
mtth decel 0.01
mtth precision 0.02
mtth maxretry 10
mtth failafter 10

# Primary Collimator Translation X
Motor pcx DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis G\
  units mm\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr -25000/6]\
  absEnc 1\
  absEncHome $pcx_Home\
  cntsPerX [expr 8192/6]]
setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
pcx speed 1
pcx movecount 100
pcx precision 0.01

# Primary Collimator Rotation
Motor pcr DMC2280 [params \
  host $dmc2280_controller1(host)\
  port $dmc2280_controller1(port)\
  axis H\
  units degrees\
  maxSpeed 0.1\
  maxAccel 0.1\
  maxDecel 0.1\
  stepsPerX [expr -25000/(360/100)]\
  absEnc 1\
  absEncHome $pcr_Home\
  cntsPerX [expr 8192/(360/100)]]
setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
pcr speed 0.1
pcr movecount 100
pcr precision 0.01

############################
# Motor Controller 2
# Motor Controller 2
# Motor Controller 2
############################

# 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 $sphi_Home\
  cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 20 -uprange 20
sphi speed 1
sphi movecount 100
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 $schi_Home\
  cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 20 -uprange 20
schi speed 1
schi movecount 100
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 $sy_Home\
  cntsPerX 8192]
setHomeandRange -motor sy -home 0 -lowrange 20 -uprange 20
sy speed 1
sy movecount 100
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 $sx_Home\
  cntsPerX -8192]
setHomeandRange -motor sx -home 0 -lowrange 20 -uprange 20
sx speed 1
sx movecount 100
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 $som_Home\
  cntsPerX 4096]
setHomeandRange -motor som -home 0 -lowrange 142 -uprange 218
som speed 1
som movecount 100
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 0.1\
  maxDecel 0.1\
  stepsPerX 125000\
  absEnc 1\
  absEncHome $stth_Home\
  cntsPerX -93207]
stth hardlowerlim -79
stth hardupperlim 77
stth softlowerlim -77
stth softupperlim 74
stth home 0
stth speed 0.5
stth movecount 100
stth precision 0.01

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

# Monochromator Focusing (Ge)
#Motor mf1 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 $mf1_Home\
#  cntsPerX xxxx]
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
#mf1 speed 1
#mfl movecount 100
#mf1 precision 0.01

# Slit 1, right
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 $ss1r_Home]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss1r movecount 100

# Slit 1, left
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 $ss1l_Home]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss1l movecount 100

# Slit 1, up
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 $ss1u_Home]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss1u movecount 100

# Slit 1, down
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 $ss1d_Home]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss1d movecount 100

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

# Little is known about the Eulerian Cradle
## Eulerian-phi
#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 $ephi_Home\
#  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 $echi_Home\
#  cntsPerX xxxx]
#setHomeandRange -motor echi -home 0 -lowrange 180 -uprange 180

# Slit 2, right
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 $ss2r_Home]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss2r movecount 100

# Slit 2, left
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 $ss2l_Home]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange
ss2l movecount 100

# Slit 2, up
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 $ss2u_Home]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss2u movecount 100

# Slit 2, down
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 $ss2d_Home]
setHomeandRange -motor ss2d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange
ss2d movecount 100

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