# $Revision: 1.16 $
# $Date: 2006-09-06 03:51:41 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $

#START SERVER CONFIGURATION SECTION
source dmc2280_util.tcl
source server_config.tcl
#END SERVER CONFIGURATION SECTION

########################################
# INSTRUMENT SPECIFIC CONFIGURATION

# START MOTOR CONFIGURATION
#xxxx WHICH CONTROLLER DO ECHI AND EPHI BELONG TO
#Motor echi DMC2280 [params \
#	host xxxx\
#	port xxxx\
#	axis A\
# units xxxx\
# maxSpeed xxxx\
# maxAccel xxxx\
# maxDecel xxxx\
#	stepsPerX xxxx\
#	absEnc 1\
#	absEncHome xxxx\
#	cntsPerX xxxx]
#echi hardlowerlim 0
#echi hardupperlim 360
#echi softlowerlim 0
#echi softupperlim 360
#echi home 0

#Motor ephi DMC2280 [params \
#	host xxxx\
#	port xxxx\
#	axis xxxx\
# units xxxx\
# maxSpeed xxxx\
# maxAccel xxxx\
# maxDecel xxxx\
#	stepsPerX xxxx\
#	absEnc 1\
#	absEncHome xxxx\
#	cntsPerX xxxx]
#ephi hardlowerlim 0
#ephi hardupperlim 360
#ephi softlowerlim 0
#ephi softupperlim 360
#ephi home 0

# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) 137.157.201.66
set dmc2280_controller1(port) 1034

set dmc2280_controller2(host) 137.157.201.67
set dmc2280_controller2(port) 1034

set dmc2280_controller3(host) 137.157.201.68
set dmc2280_controller3(port) 1034

set dmc2280_controller4(host) 137.157.201.69
set dmc2280_controller4(port) 1034

# Run slit homing routines on controllers 3 and 4
if [catch {dmc_connect dmc2280_controller3} ] {
    dmc_sendCmd dmc2280_controller3 "XQ#HOME,1"
}
if [catch {dmc_connect dmc2280_controller4} ] {
  dmc_sendCmd dmc2280_controller4 "XQ#HOME,1"
}

#Motor mom DMC2280 [params \
#	host $dmc2280_controller1(host)\
#	port $dmc2280_controller1(port)\
#	axis E\
# units xxxx\
# maxSpeed xxxx\
# maxAccel xxxx\
# maxDecel xxxx\
#	stepsPerX xxxx\
#	absEnc 1\
#	absEncHome xxxx\
#	cntsPerX xxxx]
#mom hardlowerlim -180
#mom hardupperlim 180
#mom softlowerlim -180
#mom softupperlim 180
#mom home 0
#mom speed xxx
#mom precision xxx

Motor mtth DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis F\
 units degrees\
 maxSpeed 0.5\
 maxAccel 0.2\
 maxDecel 0.2\
	stepsPerX 25000\
	absEnc 1\
	absEncHome 10299428\
	cntsPerX 93207]
mtth hardlowerlim 85
mtth hardupperlim 135
mtth softlowerlim 85
mtth softupperlim 135
mtth home 87.635 
mtth speed 0.5
mtth precision 0.001

proc mthGet {} { return [expr [SplitReply [mtth]]/2.0]}
publish mthGet user
# mth is readonly
proc mthSet {val} { return "mtth=[SplitReply [mtth]]"}
publish mthSet user
MakeConfigurableMotor mth
mth readscript mthGet
mth drivescript mthSet


# Monochromoter 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 7818915\
	cntsPerX 8192]
setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 5 
mchi speed 1
mchi precision 0.001

# Monochromoter 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 7414753\
	cntsPerX -8192]
setHomeandRange -motor mphi -home 0 -lowrange 5 -uprange 5
mphi speed 1
mphi precision 0.001

# Monochromoter Trans 1, upper
Motor mz 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 7781680\
	cntsPerX 8192]
setHomeandRange -motor mz -home 0 -lowrange 5 -uprange 5
mz speed 1
mz precision 0.001

# Monochromoter 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 xxxx\
	cntsPerX 8192]
setHomeandRange -motor mx -home 0 -lowrange 5 -uprange 5
mx speed 1
mx precision 0.001

Motor mr DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis A\
 units xxxx\
 maxSpeed xxxx\
 maxAccel xxxx\
 maxDecel xxxx\
	stepsPerX xxxx\
	absEnc 1\
	absEncHome xxxx\
	cntsPerX xxxx]
setHomeandRange -motor mr -home 0 -lowrange 0 -uprange 0
mr speed 1
#mr precision 0.001

Motor pc1 DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis F\
 units xxxx\
 maxSpeed xxxx\
 maxAccel xxxx\
 maxDecel xxxx\
	stepsPerX xxxx]
setHomeandRange -motor pc1 -home 0 -lowrange 0 -uprange 0
pc1 speed 1
#pc1 precision xxxx

Motor pc2 DMC2280 [params \
	host $dmc2280_controller1(host)\
	port $dmc2280_controller1(port)\
	axis G\
 units xxxx\
 maxSpeed xxxx\
 maxAccel xxxx\
 maxDecel xxxx\
	stepsPerX xxxx]
setHomeandRange -motor pc2 -home 0 -lowrange 0 -uprange 0
pc2 speed 1
#pc2 precision xxxx

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 17694127\
	cntsPerX -8192]
setHomeandRange -motor som -home 0 -lowrange 45 -uprange 45
som speed 1
som precision 0.001

Motor stth DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis F\
  units degrees\
  maxSpeed 0.2\
  maxAccel 0.2\
  maxDecel 0.2\
	stepsPerX 125000\
  motorHome 11250000\
	absEnc 1\
	absEncHome 6559259\
	cntsPerX 93207]
setHomeandRange -motor stth -home 120 -lowrange 15 -uprange 15
stth speed 0.5
stth precision 0.001

proc sthGet {} { return [expr [SplitReply [stth]]/2.0]}
publish sthGet user
# sth is readonly
proc sthSet {val} { return "stth=[SplitReply [stth]]"}
publish sthSet user
MakeConfigurableMotor sth
sth readscript sthGet
sth drivescript sthSet

# Sample Tilt 2, lower
Motor schi DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis B\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX 25000\
  motorHome 500000\
	absEnc 1\
	absEncHome 7581355\
	cntsPerX 8192]
setHomeandRange -motor schi -home 90 -lowrange 5 -uprange 5
schi speed 1
schi precision 0.001

# Sample Tilt 1, upper
Motor sphi DMC2280 [params \
	host $dmc2280_controller2(host)\
	port $dmc2280_controller2(port)\
	axis A\
  units degrees\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX 25000\
  motorHome 500000\
	absEnc 1\
	absEncHome 7934290\
	cntsPerX 8192]
setHomeandRange -motor sphi -home 0 -lowrange 5 -uprange 5
sphi speed 1
sphi precision 0.001

# Sample Trans 1 (upper)
Motor sz 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 7562793\
	cntsPerX 8192]
setHomeandRange -motor sz -home 0 -lowrange 5 -uprange 5 
sz speed 1
sz precision 0.001

# Sample Trans2 (lower)
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 7562793\
	cntsPerX 8192]
setHomeandRange -motor sx -home 0 -lowrange 5 -uprange 5 
sx speed 1
sx precision 0.001

#Default upper and lower ranges for vertical slits
set vertSlitLowRange 25
set vertSlitUpRange 95

#Default upper and lower ranges for horizontal slits
set horSlitLowRange 20
set horSlitUpRange 25

Motor ss1u DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis G\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX -20125\
  motorHome 2100893]
setHomeandRange -motor ss1u -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange

Motor ss1d DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis H\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX -20125\
  motorHome 2100893]
setHomeandRange -motor ss1d -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

Motor ss1l DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis E\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX -20125\
  motorHome 592406]
setHomeandRange -motor ss1l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss1r DMC2280 [params \
	host $dmc2280_controller3(host)\
	port $dmc2280_controller3(port)\
	axis F\
  units mm\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
	stepsPerX -20125\
  motorHome 592406]
setHomeandRange -motor ss1r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss2u DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis G\
	units mm\
	maxSpeed 1\
	maxAccel 1\
	maxDecel 1\
	stepsPerX -20125\
  motorHome 2053148]
setHomeandRange -motor ss2u  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

Motor ss2d DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis H\
	units mm\
	maxSpeed 1\
	maxAccel 1\
	maxDecel 1\
	stepsPerX -20125\
  motorHome 2053148]
setHomeandRange -motor ss2d  -home 0 -lowrange $vertSlitLowRange -uprange $vertSlitUpRange 

Motor ss2l DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis E\
	units mm\
	maxSpeed 1\
	maxAccel 1\
	maxDecel 1\
	stepsPerX -20125\
  motorHome 530188]
setHomeandRange -motor ss2l  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

Motor ss2r DMC2280 [params \
	host $dmc2280_controller4(host)\
	port $dmc2280_controller4(port)\
	axis F\
	units mm\
	maxSpeed 1\
	maxAccel 1\
	maxDecel 1\
	stepsPerX -20125\
  motorHome 530188]
setHomeandRange -motor ss2r  -home 0 -lowrange $horSlitLowRange -uprange $horSlitUpRange 

#--------------------------------------------------------
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
MakeCounter simCtr SIM -1.0
MakeScanCommand  xxxscan simCtr hrpd.hdd recover.bin

source hipadaba_hrpd_configuration.tcl