# $Revision: 1.11 $
# $Date: 2007-01-17 05:30:10 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $

# 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
# 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 7415177\
  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 7818798\
  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 7779997\
  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 7580365\
  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 13442932\
  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 0.2\
  maxAccel 0.2\
  maxDecel 0.2\
  stepsPerX [expr 25000*18]\
  absEnc 1\
  absEncHome 11477617\
  cntsPerX -93207]
mtth hardlowerlim 90
mtth hardupperlim 137
mtth softlowerlim 90
mtth softupperlim 137
mtth home 90
mtth speed 0.2
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 8345644\
  cntsPerX [expr 8192/6]]
setHomeandRange -motor pcx -home 0 -lowrange 0 -uprange 140
pcx speed 1
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 6197934\
  cntsPerX [expr 8192/(360/100)]]
setHomeandRange -motor pcr -home 0 -lowrange 10 -uprange 10
pcr speed 0.1
pcr precision 0.01

############################
# Motor Controller 2
# Motor Controller 2
# 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 0.1\
  maxDecel 0.1\
  stepsPerX 125000\
  absEnc 1\
  absEncHome 14530407\
  cntsPerX -93207]
stth hardlowerlim -79
stth hardupperlim 77
stth softlowerlim -77
stth softupperlim 74
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
# 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 xxxx\
#  cntsPerX xxxx]
#setHomeandRange -motor mf1 -home 0 -lowrange 0 -uprange 360
#mf1 speed 1
#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 [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange

# 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 [expr 54.5/2*$slitStepRate]]
setHomeandRange -motor ss1l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange

# 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 [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange

# 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 [expr 207.5/2*$slitStepRate]]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange

############################
# 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 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

# 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 [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2r -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange

# 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 [expr 52.25/2*$slitStepRate]]
setHomeandRange -motor ss2l -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange

# 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 [expr 204.1/2*$slitStepRate]]
setHomeandRange -motor ss2u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange

# 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 [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