# This must be loaded by motor_configuration.tcl

set ephi_Home 26575217
#set echi_Home 24224381
#set echi_Home 8919294
set echi_Home 24207159
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 2\
  maxAccel 2\
  maxDecel 2\
  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 -45\
  hardupperlim 120\
  maxSpeed 2\
  maxAccel 2\
  maxDecel 2\
  stepsPerX -25000\
  absEnc 1\
  absEncHome $echi_Home\
  cntsPerX 8192]
setHomeandRange -motor echi -home 0 -lowrange 10 -uprange 95
echi softlowerlim -10
echi softupperlim 120
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 -365\
  hardupperlim 365\
  maxSpeed 5\
  maxAccel 5\
  maxDecel 5\
  stepsPerX -12500\
  absEnc 1\
  absEncHome $ephi_Home\
  cntsPerX -4096]
setHomeandRange -motor ephi -home 0 -lowrange -360 -uprange 360
ephi softlowerlim -360
ephi softupperlim 360
ephi home 0
ephi speed 3
ephi movecount $move_count
ephi precision 0.01
ephi part sample
ephi long_name euler_phi

# dummy motors for UB

Motor fake_eom asim [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -370\
  hardupperlim 370\
  maxSpeed 2\
  maxAccel 2\
  maxDecel 2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
setHomeandRange -motor fake_eom -home 0 -lowrange -370 -uprange 370
fake_eom softlowerlim -370
fake_eom softupperlim 370
fake_eom speed 1
fake_eom movecount $move_count
fake_eom precision 0.01
fake_eom part sample
fake_eom long_name fake_euler_omega

Motor fake_ephi asim [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -370\
  hardupperlim 370\
  maxSpeed 2\
  maxAccel 2\
  maxDecel 2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
setHomeandRange -motor fake_ephi -home 0 -lowrange -370 -uprange 370
fake_ephi softlowerlim -370
fake_ephi softupperlim 370
fake_ephi speed 1
fake_ephi movecount $move_count
fake_ephi precision 0.01
fake_ephi part sample
fake_ephi long_name fake_euler_phi

Motor fake_twotheta asim [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -370\
  hardupperlim 370\
  maxSpeed 2\
  maxAccel 2\
  maxDecel 2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
setHomeandRange -motor fake_twotheta -home 0 -lowrange -370 -uprange 370
fake_twotheta softlowerlim -370
fake_twotheta softupperlim 370
fake_twotheta speed 1
fake_twotheta movecount $move_count
fake_twotheta precision 0.01
fake_twotheta part sample
fake_twotheta long_name fake_euler_twotheta

Motor fake_echi asim [params \
  asyncqueue mc2\
  axis A\
  units degrees\
  hardlowerlim -370\
  hardupperlim 370\
  maxSpeed 2\
  maxAccel 2\
  maxDecel 2\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $eom_Home\
  cntsPerX -8192]
setHomeandRange -motor fake_echi -home 0 -lowrange -370 -uprange 370
fake_echi softlowerlim -370
fake_echi softupperlim 370
fake_echi speed 1
fake_echi movecount $move_count
fake_echi precision 0.01
fake_echi part sample
fake_echi long_name fake_euler_echi