# This must be loaded by motor_configuration.tcl

#
# Home value for Eulerian cradle
#
#
# this is the Big Huber Eulerian C shaped cradle EC2
#
set eom_Home 23165406
set ephi_Home 6489396
set echi_Home 24224404

set eom_stepsPerX [expr -25000.0]
set eom_cntsPerX  [expr   8192.0] 

set ephi_stepsPerX [expr 25000.0/2.0]
set ephi_cntsPerX  [expr  8192.0/2.0] 

set echi_stepsPerX [expr  -25000.0/1.0]
set echi_cntsPerX  [expr  8192.0/1.0] 

Motor eom $motor_driver_type [params \
  asyncqueue mc4\
  axis F\
  units degrees\
  hardlowerlim -3600\
  hardupperlim 3600\
  maxSpeed 3\
  maxAccel 5\
  maxDecel 5\
  stepsPerX [expr -25000.0*(360.0/360.0)]\
  absEnc 1\
  absEncHome 20060684\
  cntsPerX [expr -8192.0*(360.0/360.0)]]
setHomeandRange -motor som -home 0 -lowrange 178 -uprange 178
eom Backlash_offset -0.5
eom speed 2
eom accel 0.1
eom decel 0.1
eom precision 0.01
eom part sample
eom long_name eom


# Sample Tilt 2, euler chi stage -> EC1
Motor echi $motor_driver_type [params \
  asyncqueue mc2\
  axis G\
  units degrees\
  hardlowerlim -390\
  hardupperlim 390\
  maxSpeed 10\
  maxAccel 3\
  maxDecel 3\
  stepsPerX $echi_stepsPerX\
  absEnc 1\
  absEncHome $echi_Home\
  cntsPerX $echi_cntsPerX ]
setHomeandRange -motor echi -home 0 -lowrange -390 -uprange 390
echi softlowerlim -10
echi softupperlim 90
echi home 0
echi speed 3
echi movecount $move_count
echi precision 0.01
echi part sample
echi long_name echi

# Sample Tilt 2, euler phi stage -> EC2
Motor ephi $motor_driver_type [params \
  asyncqueue mc4\
  axis G\
  units degrees\
  hardlowerlim -400\
  hardupperlim 400\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $ephi_stepsPerX\
  absEnc 1\
  absEncHome $ephi_Home\
  cntsPerX $ephi_cntsPerX]
setHomeandRange -motor ephi -home 0 -lowrange 400 -uprange 400
ephi softlowerlim -400
ephi softupperlim 400
ephi home 182.5
ephi speed 3
ephi movecount $move_count
ephi precision 0.01
ephi part sample
ephi long_name ephi