# This must be loaded by motor_configuration.tcl

set sphi_Home 7938520
set schi_Home 7586052
set sy_Home 7790194
set sx_Home 7556649

# Sample Tilt 1, upper, phi
Motor sphi $motor_driver_type [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -360\
  hardupperlim 360\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome $sphi_Home\
  cntsPerX -8192]
setHomeandRange -motor sphi -home 0 -lowrange 15 -uprange 15
sphi speed 1
sphi movecount $move_count
sphi precision 0.01
sphi part sample
sphi long_name phi

# Sample Tilt 2, lower, chi
Motor schi $motor_driver_type [params \
  asyncqueue mc2\
  axis B\
  units degrees\
  hardlowerlim 75\
  hardupperlim 105\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $schi_Home\
  cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 15 -uprange 15
schi speed 1
schi movecount $move_count
schi precision 0.01
schi part sample
schi long_name chi

# Sample Trans 1, upper, y
Motor sy $motor_driver_type [params \
  asyncqueue mc2\
  axis C\
  units mm\
  hardlowerlim -20\
  hardupperlim 20\
  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 $move_count
sy precision 0.01
sy part sample
sy long_name translate_y

# Sample Trans2, lower, x
Motor sx $motor_driver_type [params \
  asyncqueue mc2\
  axis D\
  units mm\
  hardlowerlim -20\
  hardupperlim 20\
  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 $move_count
sx precision 0.01
sx part sample
sx long_name translate_x