# $Revision: 1.14 $
# $Date: 2007-03-19 03:55:27 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: dcl $

# START MOTOR CONFIGURATION

set animal platypus
# Setup addresses of Galil DMC2280 controllers.
set dmc2280_controller1(host) mc1-$animal
set dmc2280_controller1(port) pmc1-$animal

set dmc2280_controller2(host) mc2-$animal
set dmc2280_controller2(port) pmc2-$animal

set dmc2280_controller3(host) mc3-$animal
set dmc2280_controller3(port) pmc3-$animal

set dmc2280_controller4(host) mc4-$animal
set dmc2280_controller4(port) pmc4-$animal

MakeRS232Controller dmc_rs1 137.157.202.131 1034
MakeRS232Controller dmc_rs2 137.157.202.132 1034
MakeRS232Controller dmc_rs3 137.157.202.133 1034
MakeRS232Controller dmc_rs4 137.157.202.134 1034
MakeMultiChan dmc_mc1 dmc_rs1
MakeMultiChan dmc_mc2 dmc_rs2
MakeMultiChan dmc_mc3 dmc_rs3
MakeMultiChan dmc_mc4 dmc_rs4

#Measured absolute encoder reading at home position

set bz_home 8142000
set c1ht_home 8265000
set m1ro_home 134658
set bat_home 7500000
set st3vt_home 8742250
set st4vt_home 8806900
set sth_home 23511400
set sphi_home 7548440
set sx_home 8574000
set sy_home 7500000
set sz_home 8927484
set dy_home 7500000
set dz_home 7805000

#Measured or computed slit motor steps per millimetre
# 125 steps * 161:1 gears = 20125
set slitStepRate  20125

#Measured slit gap, in units, after homing on limit switches
set ss1h_Gap       56.7
set ss1v_Gap       54.5
set ss2h_Gap        9.1
set ss2v_Gap       23.1

set ss3h_Gap        7.4
set ss3v_Gap       28.6
set ss4h_Gap       12.1
set ss4v_Gap       23.6

set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]

set ss3r_Home [expr $ss3h_Gap/2*$slitStepRate]
set ss3l_Home [expr $ss3h_Gap/2*$slitStepRate]
set ss3u_Home [expr $ss3v_Gap/2*$slitStepRate]
set ss3d_Home [expr $ss3v_Gap/2*$slitStepRate]
set ss4r_Home [expr $ss4h_Gap/2*$slitStepRate]
set ss4l_Home [expr $ss4h_Gap/2*$slitStepRate]
set ss4u_Home [expr $ss4v_Gap/2*$slitStepRate]
set ss4d_Home [expr $ss4v_Gap/2*$slitStepRate]

#Default upper and lower ranges for vertical slits
set vertSlitHome 0
set vertSlitLowRange 25
set vertSlitUpRange 100

#Default upper and lower ranges for horizontal slits
set horSlitHome 0
set horSlitLowRange 25
set horSlitUpRange 25

# set movecount high to reduce the frequency of
# hnotify messages to a reasonable level
set move_count 100

############################
# Motor Controller 1
# Motor Controller 1
# Motor Controller 1
############################
#:TP at HOME
#

# Beam Shade Vertical Translation (6mm/T double helix, 500mm)
Motor bz DMC2280 [params \
  multichan dmc_mc1\
  axis A\
  units mm\
  hardlowerlim 0\
  hardupperlim 275\
  maxSpeed 5\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr -25000/6]\
  absEnc 1\
  absEncHome $bz_home\
  cntsPerX [expr -8192/6]]
bz softlowerlim 0
bz softupperlim 275
bz home 0

# Collimator Table Horizontal Translation, X
Motor c1ht DMC2280 [params \
  multichan dmc_mc1\
  axis B\
  units mm\
  hardlowerlim 0\
  hardupperlim 1065\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr 25000/5]\
  absEnc 1\
  absEncHome $c1ht_home\
  cntsPerX [expr -8192/5]]
c1ht softlowerlim 0
c1ht softupperlim 1065
c1ht home 0

# Collimator Tilt, Z axis, positive is down
Motor m1ro DMC2280 [params \
  multichan dmc_mc1\
  axis C\
  units degrees\
  hardlowerlim -3.5\
  hardupperlim 3.5\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 275000\
  absEnc 1\
  absEncHome $m1ro_home\
  cntsPerX [expr -262144/360]]
m1ro softlowerlim -3.5
m1ro softupperlim 3.5
m1ro home 0

# Beam Attenuator (16mm/turn, 200mm travel)
Motor bat DMC2280 [params \
  multichan dmc_mc1\
  axis D\
  units mm\
  hardlowerlim 0\
  hardupperlim 200\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr 25000/16]\
  absEnc 1\
  absEncHome $bat_home\
  cntsPerX [expr 8192/16]]
bat softlowerlim 0
bat softupperlim 200
bat home 0

# Slit 3 Tower Translation (1mm/T, +/- 100mm)
Motor st3vt DMC2280 [params \
  multichan dmc_mc1\
  axis E\
  units mm\
  hardlowerlim 0\
  hardupperlim 253\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $st3vt_home\
  cntsPerX -8192]
st3vt softlowerlim 0
st3vt softupperlim 253
st3vt home 0

# Slit 4 Tower Translation (1mm/T, +/- 100mm)
Motor st4vt DMC2280 [params \
  multichan dmc_mc1\
  axis F\
  units mm\
  hardlowerlim 0\
  hardupperlim 249\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $st4vt_home\
  cntsPerX -8192]
st4vt softlowerlim 0
st4vt softupperlim 249
st4vt home 0

############################
# Motor Controller 2
# Motor Controller 2
# Motor Controller 2
############################
#:TP at HOME
#

# Sample Tilt 1, upper (1 degree/turn)
Motor sth DMC2280 [params \
  multichan dmc_mc2\
  axis A\
  units degrees\
  hardlowerlim -15\
  hardupperlim 15\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX 25000\
  absEnc 1\
  absEncHome $sth_home\
  cntsPerX 8192]
setHomeandRange -motor sth -home 0 -lowrange 5 -uprange 5
sth speed 1
sth precision 0.01

# Sample Tilt 2, lower (1 degree/turn)
Motor sphi DMC2280 [params \
  multichan dmc_mc2\
  axis B\
  units degrees\
  hardlowerlim 75\
  hardupperlim 105\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome $sphi_home\
  cntsPerX -8192]
setHomeandRange -motor sphi -home 90 -lowrange 5 -uprange 5
sphi speed 1
sphi precision 0.01

# Sample Translation, Linear X (5mm/T, 0-750mm)
Motor sx DMC2280 [params \
  multichan dmc_mc2\
  axis C\
  units mm\
  hardlowerlim 0\
  hardupperlim 734\
  maxSpeed 10\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr 25000/5]\
  absEnc 1\
  absEncHome $sx_home\
  cntsPerX [expr 8192/5]]
sx softlowerlim 0
sx softupperlim 730
sx home 0

# Sample Translation, Linear Y
#Motor sy DMC2280 [params \
#  multichan dmc_mc2\
#  axis D\
#  units mm\
#  hardlowerlim -600\
#  hardupperlim -300\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX 25000\
#  absEnc 1\
#  absEncHome $sy_home\
#  cntsPerX 8192]
#sy softlowerlim -600
#sy softupperlim -300
#sy home -450

# Sample Translation, Linear Z (??/T, 300mm)
Motor sz DMC2280 [params \
  multichan dmc_mc2\
  axis E\
  units mm\
  hardlowerlim 0\
  hardupperlim 300.5\
  maxSpeed 2\
  maxAccel 1\
  maxDecel 1\
  stepsPerX [expr -25000*5]\
  absEnc 1\
  absEncHome $sz_home\
  cntsPerX [expr -8192/5]]
sz softlowerlim 0
sz softupperlim 300.5
sz home 0
sz speed 2

# Detector Translation, Linear Y (Not Motorized)
#Motor dy DMC2280 [params \
#  multichan dmc_mc2\
#  axis F\
#  units mm\
#  hardlowerlim -595\
#  hardupperlim 800\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX 25000\
#  absEnc 1\
#  absEncHome $dy_home\
#  cntsPerX 8192]
#dy softlowerlim -595
#dy softupperlim 800
#dy home 0

# Detector Translation, Linear Z (5mm/T gearing unknown)
Motor dz DMC2280 [params \
  multichan dmc_mc2\
  axis G\
  units mm\
  hardlowerlim 0\
  hardupperlim 1351\
  maxSpeed 5\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -25000\
  absEnc 1\
  absEncHome $dz_home\
  cntsPerX [expr -8192/5]]
dz softlowerlim 0
dz softupperlim 1351
dz home 0

############################
# Motor Controller 3
# Motor Controller 3
# Motor Controller 3
############################
#

# Slit 1, lower
Motor ss1d DMC2280 [params \
  multichan dmc_mc3\
  axis D\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss1d_Home]
ss1d softlowerlim -25
ss1d softupperlim 95
ss1d home 0

# Slit 1, upper
Motor ss1u DMC2280 [params \
  multichan dmc_mc3\
  axis C\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1u_Home]
ss1u softlowerlim -25
ss1u softupperlim 95
ss1u home 0

# Slit 1, left
Motor ss1l DMC2280 [params \
  multichan dmc_mc3\
  axis A\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss1l_Home]
ss1l softlowerlim -25
ss1l softupperlim 25
ss1l home 0

# Slit 1, right
Motor ss1r DMC2280 [params \
  multichan dmc_mc3\
  axis B\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss1r_Home]
ss1r softlowerlim -25
ss1r softupperlim 25
ss1r home 0

# Slit 2, lower
Motor ss2d DMC2280 [params \
  multichan dmc_mc3\
  axis H\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss2d_Home]
ss2d softlowerlim -25
ss2d softupperlim 95
ss2d home 0

# Slit 2, upper
Motor ss2u DMC2280 [params \
  multichan dmc_mc3\
  axis G\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2u_Home]
ss2u softlowerlim -25
ss2u softupperlim 95
ss2u home 0

# Slit 2, left
Motor ss2l DMC2280 [params \
  multichan dmc_mc3\
  axis E\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss2l_Home]
ss2l softlowerlim -25
ss2l softupperlim 25
ss2l home 0

# Slit 2, right
Motor ss2r DMC2280 [params \
  multichan dmc_mc3\
  axis F\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss2r_Home]
ss2r softlowerlim -25
ss2r softupperlim 25
ss2r home 0

# Slit 3, lower
Motor ss3d DMC2280 [params \
  multichan dmc_mc4\
  axis A\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss3d_Home]
ss3d softlowerlim -25
ss3d softupperlim 95
ss3d home 0

# Slit 3, upper
Motor ss3u DMC2280 [params \
  multichan dmc_mc4\
  axis B\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss3u_Home]
ss3u softlowerlim -25
ss3u softupperlim 95
ss3u home 0

# Slit 3, Left
Motor ss3l DMC2280 [params \
  multichan dmc_mc4\
  axis C\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss3l_Home]
ss3l softlowerlim -25
ss3l softupperlim 25
ss3l home 0

# Slit 3, right
Motor ss3r DMC2280 [params \
  multichan dmc_mc4\
  axis D\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss3r_Home]
ss3r softlowerlim -25
ss3r softupperlim 25
ss3r home 0

# Slit 4, lower
Motor ss4d DMC2280 [params \
  multichan dmc_mc4\
  axis E\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss4d_Home]
ss4d softlowerlim -25
ss4d softupperlim 95
ss4d home 0

# Slit 4, upper
Motor ss4u DMC2280 [params \
  multichan dmc_mc4\
  axis F\
  units mm\
  hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
  hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss4u_Home]
ss4u softlowerlim -25
ss4u softupperlim 95
ss4u home 0

# Slit 4, left
Motor ss4l DMC2280 [params \
  multichan dmc_mc4\
  axis G\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX $slitStepRate\
  motorHome $ss4l_Home]
ss4l softlowerlim -25
ss4l softupperlim 25
ss4l home 0

# Slit 4, right
Motor ss4r DMC2280 [params \
  multichan dmc_mc4\
  axis H\
  units mm\
  hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
  hardupperlim [expr $horSlitHome + $horSlitUpRange]\
  maxSpeed 1\
  maxAccel 1\
  maxDecel 1\
  stepsPerX -$slitStepRate\
  motorHome $ss4r_Home]
ss4r softlowerlim -25
ss4r softupperlim 25
ss4r home 0

## Polarization Analyzer Vertical Translation, Z
#Motor anzvt DMC2280 [params \
#  multichan dmc_mc2\
#  axis xxxx\
#  units mm\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX 25000\
#  absEnc 1\
#  absEncHome 7500000\
#  cntsPerX 8192]
#anzvt hardlowerlim xxxx
#anzvt hardupperlim xxxx
#anzvt softlowerlim xxxx
#anzvt softupperlim xxxx
#anzvt home 0

## Polarization Analyzer Rotation
#Motor anro DMC2280 [params \
#  multichan dmc_mc2\
#  axis xxxx\
#  units mm\
#  hardlowerlim -10\
#  hardupperlim 10\
#  maxSpeed 1\
#  maxAccel 1\
#  maxDecel 1\
#  stepsPerX 25000\
#  absEnc 1\
#  absEncHome 7500000\
#  cntsPerX 8192]
#anro softlowerlim -10
#anro softupperlim 10
#anro home 0

#proc SplitReply { text } {
#     set l [split $text =]
#     return [lindex $l 1]
#}

if {1} {
proc get_gap_width {m1 m2} {
  return [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
}

proc set_gap_width {m1 m2 val} {
  set currentWidth [expr [SplitReply [$m1]] - [SplitReply [$m2]]]
  set diff [expr $val - $currentWidth]
  set newD1R [expr [SplitReply [$m1]] + $diff/2]
  set newD1L [expr [SplitReply [$m2]] - $diff/2]
  return "$m1=$newD1R,$m2=$newD1L"
}

proc get_gap_offset {m1 m2} {
  set S1 [SplitReply [$m1]]
  set S2 [SplitReply [$m2]]
  return [ expr ($S1 + $S2)/2.0 ]
}

proc set_gap_offset {m1 m2 val} {
  set S1 [SplitReply [$m1]]
  set S2 [SplitReply [$m2]]
  set currentoffset [expr ($S1 + $S2)/2.0 ]
  set diff [expr $val - $currentoffset]
  set newD1R [expr $S1 + $diff]
  set newD1L [expr $S2 + $diff]
  return "$m1=$newD1R,$m2=$newD1L"
}

# make_gap_motors virt_width_motor virt_offset_motor real_high_motor real_low_motor
proc make_gap_motors {vm1 vm2 m1 m2} {
  eval "proc get_$vm1 {} { get_gap_width $m1 $m2 }"
  set v {$var}
  eval "proc set_$vm1 {var} { set_gap_width $m1 $m2 $v }"
  MakeConfigurableMotor $vm1
  $vm1 readscript get_$vm1
  $vm1 drivescript set_$vm1
publish get_$vm1 user
publish set_$vm1 user

  eval "proc get_$vm2 {} { get_gap_offset $m1 $m2 }"
  set v {$var}
  eval "proc set_$vm2 {var} { set_gap_offset $m1 $m2 $v }"
  MakeConfigurableMotor $vm2
  $vm2 readscript get_$vm2
  $vm2 drivescript set_$vm2
publish get_$vm2 user
publish set_$vm2 user
}

make_gap_motors ss1vg ss1vo ss1u ss1d
make_gap_motors ss1hg ss1ho ss1r ss1l

make_gap_motors ss2vg ss2vo ss2u ss2d
make_gap_motors ss2hg ss2ho ss2r ss2l

make_gap_motors ss3vg ss3vo ss3u ss3d
make_gap_motors ss3hg ss3ho ss3r ss3l

make_gap_motors ss4vg ss4vo ss4u ss4d
make_gap_motors ss4hg ss4ho ss4r ss4l
} else {
#--------------------------------------------------------
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

###############################################

#--------------------------------------------------------
proc ss3widthscript {val} {
  set currentWidth [expr [SplitReply [ss3r]] + [SplitReply [ss3l]]]
  set diff [expr $val - $currentWidth]
  set newD1R [expr [SplitReply [ss3r]] + $diff/2]
  set newD1L [expr [SplitReply [ss3l]] + $diff/2]
  return "ss3r=$newD1R,ss3l=$newD1L"
}
publish ss3widthscript user

#-------------------------------------------------------
proc ss3readwidth {} {
  return [expr [SplitReply [ss3r]] + [SplitReply [ss3l]]]
}
publish ss3readwidth user
MakeConfigurableMotor ss3hg
ss3hg drivescript ss3widthscript
ss3hg readscript ss3readwidth

#-----------------------------------------------------
proc ss3heightscript {val} {
  set currentWidth [expr [SplitReply [ss3u]] + [SplitReply [ss3d]]]
  set diff [expr $val - $currentWidth]
  set newD1B [expr [SplitReply [ss3d]] + $diff/2]
  set newD1T [expr [SplitReply [ss3u]] + $diff/2]
  return "ss3d=$newD1B,ss3u=$newD1T"
}
publish ss3heightscript user

#-------------------------------------------------------
proc ss3readheight {} {
  return [expr [SplitReply [ss3u]] + [SplitReply [ss3d]]]
}
publish ss3readheight user

#---------------------------------------------------------
MakeConfigurableMotor ss3vg
ss3vg drivescript ss3heightscript
ss3vg readscript ss3readheight

#--------------------------------------------------------
proc ss3horoffsetscript {val} {
  set SR [SplitReply [ss3r]]
  set SL [SplitReply [ss3l]]
  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
  set diff [expr $val - $currentoffset]
  set newd1r [expr $SR + $diff]
  set newd1l [expr $SL - $diff]
  return "ss3r=$newd1r,ss3l=$newd1l"
}
publish ss3horoffsetscript user

#-------------------------------------------------------
proc ss3readhoroffset {} {
  set SR [SplitReply [ss3r]]
  return [ expr $SR - ($SR + [SplitReply [ss3l]])/2.0 ]
}
publish ss3readhoroffset user

#-------------------------------------------------------
MakeConfigurableMotor ss3ho
ss3ho drivescript ss3horoffsetscript
ss3ho readscript ss3readhoroffset

#--------------------------------------------------------
proc ss3vertoffsetscript {val} {
  set SU [SplitReply [ss3u]]
  set SD [SplitReply [ss3d]]
  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
  set diff [expr $val - $currentOffset]
  set newD1U [expr $SU + $diff]
  set newD1D [expr $SD - $diff]
  return "ss3u=$newD1U,ss3d=$newD1D"
}
publish ss3vertoffsetscript user

#-------------------------------------------------------
proc ss3readvertoffset {} {
  set SU [SplitReply [ss3u]]
  return [ expr $SU - ($SU + [SplitReply [ss3d]])/2.0 ]
}
publish ss3readvertoffset user

#-------------------------------------------------------
MakeConfigurableMotor ss3vo
ss3vo drivescript ss3vertoffsetscript
ss3vo readscript ss3readvertoffset

###############################################

#--------------------------------------------------------
proc ss4widthscript {val} {
  set currentWidth [expr [SplitReply [ss4r]] + [SplitReply [ss4l]]]
  set diff [expr $val - $currentWidth]
  set newD1R [expr [SplitReply [ss4r]] + $diff/2]
  set newD1L [expr [SplitReply [ss4l]] + $diff/2]
  return "ss4r=$newD1R,ss4l=$newD1L"
}
publish ss4widthscript user

#-------------------------------------------------------
proc ss4readwidth {} {
  return [expr [SplitReply [ss4r]] + [SplitReply [ss4l]]]
}
publish ss4readwidth user
MakeConfigurableMotor ss4hg
ss4hg drivescript ss4widthscript
ss4hg readscript ss4readwidth

#-----------------------------------------------------
proc ss4heightscript {val} {
  set currentWidth [expr [SplitReply [ss4u]] + [SplitReply [ss4d]]]
  set diff [expr $val - $currentWidth]
  set newD1B [expr [SplitReply [ss4d]] + $diff/2]
  set newD1T [expr [SplitReply [ss4u]] + $diff/2]
  return "ss4d=$newD1B,ss4u=$newD1T"
}
publish ss4heightscript user

#-------------------------------------------------------
proc ss4readheight {} {
  return [expr [SplitReply [ss4u]] + [SplitReply [ss4d]]]
}
publish ss4readheight user

#---------------------------------------------------------
MakeConfigurableMotor ss4vg
ss4vg drivescript ss4heightscript
ss4vg readscript ss4readheight

#--------------------------------------------------------
proc ss4horoffsetscript {val} {
  set SR [SplitReply [ss4r]]
  set SL [SplitReply [ss4l]]
  set currentoffset [ expr $SR - ($SR + $SL)/2.0 ]
  set diff [expr $val - $currentoffset]
  set newd1r [expr $SR + $diff]
  set newd1l [expr $SL - $diff]
  return "ss4r=$newd1r,ss4l=$newd1l"
}
publish ss4horoffsetscript user

#-------------------------------------------------------
proc ss4readhoroffset {} {
  set SR [SplitReply [ss4r]]
  return [ expr $SR - ($SR + [SplitReply [ss4l]])/2.0 ]
}
publish ss4readhoroffset user

#-------------------------------------------------------
MakeConfigurableMotor ss4ho
ss4ho drivescript ss4horoffsetscript
ss4ho readscript ss4readhoroffset

#--------------------------------------------------------
proc ss4vertoffsetscript {val} {
  set SU [SplitReply [ss4u]]
  set SD [SplitReply [ss4d]]
  set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
  set diff [expr $val - $currentOffset]
  set newD1U [expr $SU + $diff]
  set newD1D [expr $SD - $diff]
  return "ss4u=$newD1U,ss4d=$newD1D"
}
publish ss4vertoffsetscript user

#-------------------------------------------------------
proc ss4readvertoffset {} {
  set SU [SplitReply [ss4u]]
  return [ expr $SU - ($SU + [SplitReply [ss4d]])/2.0 ]
}
publish ss4readvertoffset user

#-------------------------------------------------------
MakeConfigurableMotor ss4vo
ss4vo drivescript ss4vertoffsetscript
ss4vo readscript ss4readvertoffset
}