# This must be loaded by motor_configuration.tcl

#
# Home value for Eulerian cradle
#
#
# this is the Huber Eulerian cradle
#
set eom_Home 23165406
set ephi_Home 6647676
set echi_Home 8919336

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] 


#
# this is our own tiny black cradle
#
#set eom_Home 23165406
#set ephi_Home 20947518
#set echi_Home 24735790
#
#set eom_stepsPerX [expr -25000.0]
#set eom_cntsPerX  [expr   8192.0] 
#
#set ephi_stepsPerX [expr -25000.0]
#set ephi_cntsPerX  [expr   8192.0]
#
#set echi_stepsPerX [expr -25000.0]
#set echi_cntsPerX  [expr   8192.0] 


# Sample Tilt 1, euler omega stage -> exchange with ssw further down
#Motor eom $motor_driver_type [params \
#  asyncqueue mc4\
#  axis F\
#  units degrees\
#  hardlowerlim -390\
#  hardupperlim 390\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX $eom_stepsPerX\
#  absEnc 1\
#  absEncHome $eom_Home\
#  cntsPerX $eom_cntsPer]
#setHomeandRange -motor eom -home 0 -lowrange -390 -uprange 390
#eom speed 1
#eom softlowerlim -390
#eom softupperlim 390
#eom movecount $move_count
#eom precision 0.01
#eom part sample
#eom long_name eom


#
# use sample omega until euler omega gets its own cables
#
#
# Sample Omega, rotate
Motor eom $motor_driver_type [params \
  asyncqueue mc2\
  axis E\
  units degrees\
  hardlowerlim -180\
  hardupperlim 180\
  maxSpeed 3\
  maxAccel 5\
  maxDecel 5\
  stepsPerX [expr -25000.0*(383.0/360.0)]\
  absEnc 1\
  absEncHome 26472736\
  cntsPerX [expr 8192.0*(383.0/360.0)]]
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 0
ephi speed 3
ephi movecount $move_count
ephi precision 0.01
ephi part sample
ephi long_name ephi