1138 lines
29 KiB
Tcl
1138 lines
29 KiB
Tcl
# $Revision: 1.16 $
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# $Date: 2007-03-21 20:39:06 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: dcl $
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# START MOTOR CONFIGURATION
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set animal platypus
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# Setup addresses of Galil DMC2280 controllers.
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set dmc2280_controller1(host) mc1-$animal
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set dmc2280_controller1(port) pmc1-$animal
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set dmc2280_controller2(host) mc2-$animal
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set dmc2280_controller2(port) pmc2-$animal
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set dmc2280_controller3(host) mc3-$animal
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set dmc2280_controller3(port) pmc3-$animal
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set dmc2280_controller4(host) mc4-$animal
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set dmc2280_controller4(port) pmc4-$animal
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set use_multichan 1
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if {$use_multichan == 1} {
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MakeRS232Controller dmc_rs1 137.157.202.131 1034
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MakeRS232Controller dmc_rs2 137.157.202.132 1034
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MakeRS232Controller dmc_rs3 137.157.202.133 1034
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MakeRS232Controller dmc_rs4 137.157.202.134 1034
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MakeMultiChan dmc_mc1 dmc_rs1
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MakeMultiChan dmc_mc2 dmc_rs2
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MakeMultiChan dmc_mc3 dmc_rs3
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MakeMultiChan dmc_mc4 dmc_rs4
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}
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#Measured absolute encoder reading at home position
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set bz_home 8142000
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set c1ht_home 8265000
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set m1ro_home 134658
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set bat_home 7500000
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set st3vt_home 8742250
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set st4vt_home 8806900
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set sth_home 23511400
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set sphi_home 7548440
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set sx_home 8574000
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set sy_home 7500000
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set sz_home 8927484
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set dy_home 7500000
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set dz_home 7805000
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#Measured or computed step rate for sz (Sample Raise)
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set szStepRate -116500
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#Measured or computed slit motor steps per millimetre
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# 125 steps * 161:1 gears = 20125
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set slitStepRate 20125
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#Measured slit gap, in units, after homing on limit switches
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set ss1h_Gap 56.7
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set ss1v_Gap 54.5
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set ss2h_Gap 9.1
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set ss2v_Gap 23.1
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set ss3h_Gap 7.4
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set ss3v_Gap 28.6
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set ss4h_Gap 12.1
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set ss4v_Gap 23.6
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set ss1r_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1l_Home [expr $ss1h_Gap/2*$slitStepRate]
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set ss1u_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss1d_Home [expr $ss1v_Gap/2*$slitStepRate]
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set ss2r_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2l_Home [expr $ss2h_Gap/2*$slitStepRate]
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set ss2u_Home [expr $ss2v_Gap/2*$slitStepRate]
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set ss2d_Home [expr $ss2v_Gap/2*$slitStepRate]
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set ss3r_Home [expr $ss3h_Gap/2*$slitStepRate]
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set ss3l_Home [expr $ss3h_Gap/2*$slitStepRate]
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set ss3u_Home [expr $ss3v_Gap/2*$slitStepRate]
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set ss3d_Home [expr $ss3v_Gap/2*$slitStepRate]
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set ss4r_Home [expr $ss4h_Gap/2*$slitStepRate]
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set ss4l_Home [expr $ss4h_Gap/2*$slitStepRate]
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set ss4u_Home [expr $ss4v_Gap/2*$slitStepRate]
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set ss4d_Home [expr $ss4v_Gap/2*$slitStepRate]
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#Default upper and lower ranges for vertical slits
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set vertSlitHome 0
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set vertSlitLowRange 25
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set vertSlitUpRange 100
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#Default upper and lower ranges for horizontal slits
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set horSlitHome 0
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set horSlitLowRange 25
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set horSlitUpRange 25
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# set movecount high to reduce the frequency of
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# hnotify messages to a reasonable level
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set move_count 100
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############################
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# Motor Controller 1
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# Motor Controller 1
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# Motor Controller 1
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############################
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#:TP at HOME
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#
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# Beam Shade Vertical Translation (6mm/T double helix, 500mm)
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Motor bz DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis A\
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units mm\
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hardlowerlim 0\
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hardupperlim 275\
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maxSpeed 5\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr -25000/6]\
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absEnc 1\
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absEncHome $bz_home\
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cntsPerX [expr -8192/6]]
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bz softlowerlim 0
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bz softupperlim 275
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bz home 0
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# Collimator Table Horizontal Translation, X
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Motor c1ht DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis B\
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units mm\
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hardlowerlim 0\
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hardupperlim 1065\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr 25000/5]\
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absEnc 1\
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absEncHome $c1ht_home\
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cntsPerX [expr -8192/5]]
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c1ht softlowerlim 0
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c1ht softupperlim 1065
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c1ht home 0
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# Collimator Tilt, Z axis, positive is down
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Motor m1ro DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis C\
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units degrees\
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hardlowerlim -3.5\
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hardupperlim 3.5\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 275000\
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absEnc 1\
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absEncHome $m1ro_home\
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cntsPerX [expr -262144/360]]
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m1ro softlowerlim -3.5
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m1ro softupperlim 3.5
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m1ro home 0
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# Beam Attenuator (16mm/turn, 200mm travel)
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Motor bat DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis D\
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units mm\
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hardlowerlim 0\
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hardupperlim 200\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr 25000/16]\
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absEnc 1\
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absEncHome $bat_home\
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cntsPerX [expr 8192/16]]
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bat softlowerlim 0
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bat softupperlim 200
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bat home 0
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# Slit 3 Tower Translation (1mm/T, +/- 100mm)
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Motor st3vt DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis E\
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units mm\
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hardlowerlim 0\
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hardupperlim 253\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $st3vt_home\
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cntsPerX -8192]
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st3vt softlowerlim 0
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st3vt softupperlim 253
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st3vt home 0
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# Slit 4 Tower Translation (1mm/T, +/- 100mm)
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Motor st4vt DMC2280 [params \
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multichan dmc_mc1\
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host $dmc2280_controller1(host)\
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port $dmc2280_controller1(port)\
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axis F\
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units mm\
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hardlowerlim 0\
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hardupperlim 249\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $st4vt_home\
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cntsPerX -8192]
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st4vt softlowerlim 0
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st4vt softupperlim 249
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st4vt home 0
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############################
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# Motor Controller 2
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# Motor Controller 2
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# Motor Controller 2
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############################
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#:TP at HOME
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#
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# Sample Tilt 1, upper (1 degree/turn)
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Motor sth DMC2280 [params \
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multichan dmc_mc2\
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis A\
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units degrees\
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hardlowerlim -15\
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hardupperlim 15\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX 25000\
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absEnc 1\
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absEncHome $sth_home\
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cntsPerX 8192]
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setHomeandRange -motor sth -home 0 -lowrange 5 -uprange 5
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sth speed 1
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sth precision 0.01
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# Sample Tilt 2, lower (1 degree/turn)
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Motor sphi DMC2280 [params \
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multichan dmc_mc2\
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis B\
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units degrees\
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hardlowerlim 75\
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hardupperlim 105\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $sphi_home\
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cntsPerX -8192]
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setHomeandRange -motor sphi -home 90 -lowrange 5 -uprange 5
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sphi speed 1
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sphi precision 0.01
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# Sample Translation, Linear X (5mm/T, 0-750mm)
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Motor sx DMC2280 [params \
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multichan dmc_mc2\
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis C\
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units mm\
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hardlowerlim 0\
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hardupperlim 734\
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maxSpeed 10\
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maxAccel 1\
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maxDecel 1\
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stepsPerX [expr 25000/5]\
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absEnc 1\
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absEncHome $sx_home\
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cntsPerX [expr 8192/5]]
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sx softlowerlim 0
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sx softupperlim 730
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sx home 0
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# Sample Translation, Linear Y
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#Motor sy DMC2280 [params \
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# multichan dmc_mc2\
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis D\
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# units mm\
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# hardlowerlim -600\
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# hardupperlim -300\
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# maxSpeed 1\
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# maxAccel 1\
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# maxDecel 1\
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# stepsPerX 25000\
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# absEnc 1\
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# absEncHome $sy_home\
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# cntsPerX 8192]
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#sy softlowerlim -600
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#sy softupperlim -300
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#sy home -450
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# Sample Translation, Linear Z (??/T, 300mm)
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Motor sz DMC2280 [params \
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multichan dmc_mc2\
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis E\
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units mm\
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hardlowerlim 0\
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hardupperlim 300.5\
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maxSpeed 2\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $szStepRate\
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absEnc 1\
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absEncHome $sz_home\
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cntsPerX [expr -8192/5]]
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sz softlowerlim 0
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sz softupperlim 300.5
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sz home 0
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sz speed 2
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# Detector Translation, Linear Y (Not Motorized)
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#Motor dy DMC2280 [params \
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# multichan dmc_mc2\
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# host $dmc2280_controller2(host)\
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# port $dmc2280_controller2(port)\
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# axis F\
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# units mm\
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# hardlowerlim -595\
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# hardupperlim 800\
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# maxSpeed 1\
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# maxAccel 1\
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# maxDecel 1\
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# stepsPerX 25000\
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# absEnc 1\
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# absEncHome $dy_home\
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# cntsPerX 8192]
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#dy softlowerlim -595
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#dy softupperlim 800
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#dy home 0
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# Detector Translation, Linear Z (5mm/T gearing unknown)
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Motor dz DMC2280 [params \
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multichan dmc_mc2\
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host $dmc2280_controller2(host)\
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port $dmc2280_controller2(port)\
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axis G\
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units mm\
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hardlowerlim 0\
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hardupperlim 1351\
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maxSpeed 5\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -25000\
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absEnc 1\
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absEncHome $dz_home\
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cntsPerX [expr -8192/5]]
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dz softlowerlim 0
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dz softupperlim 1351
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dz home 0
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############################
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# Motor Controller 3
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# Motor Controller 3
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# Motor Controller 3
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############################
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#
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# Slit 1, lower
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Motor ss1d DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis D\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss1d_Home]
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ss1d softlowerlim -25
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ss1d softupperlim 95
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ss1d home 0
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# Slit 1, upper
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Motor ss1u DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis C\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1u_Home]
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ss1u softlowerlim -25
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ss1u softupperlim 95
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ss1u home 0
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# Slit 1, left
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Motor ss1l DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis A\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss1l_Home]
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ss1l softlowerlim -25
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ss1l softupperlim 25
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ss1l home 0
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# Slit 1, right
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Motor ss1r DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis B\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss1r_Home]
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ss1r softlowerlim -25
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ss1r softupperlim 25
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ss1r home 0
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# Slit 2, lower
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Motor ss2d DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis H\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss2d_Home]
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ss2d softlowerlim -25
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ss2d softupperlim 95
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ss2d home 0
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# Slit 2, upper
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Motor ss2u DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis G\
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units mm\
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hardlowerlim [expr $vertSlitHome - $vertSlitLowRange]\
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hardupperlim [expr $vertSlitHome + $vertSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX -$slitStepRate\
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motorHome $ss2u_Home]
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ss2u softlowerlim -25
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ss2u softupperlim 95
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ss2u home 0
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# Slit 2, left
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Motor ss2l DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis E\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $slitStepRate\
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motorHome $ss2l_Home]
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ss2l softlowerlim -25
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ss2l softupperlim 25
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ss2l home 0
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# Slit 2, right
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Motor ss2r DMC2280 [params \
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multichan dmc_mc3\
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host $dmc2280_controller3(host)\
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port $dmc2280_controller3(port)\
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axis F\
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units mm\
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hardlowerlim [expr $horSlitHome - $horSlitLowRange]\
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hardupperlim [expr $horSlitHome + $horSlitUpRange]\
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maxSpeed 1\
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maxAccel 1\
|
|
maxDecel 1\
|
|
stepsPerX -$slitStepRate\
|
|
motorHome $ss2r_Home]
|
|
ss2r softlowerlim -25
|
|
ss2r softupperlim 25
|
|
ss2r home 0
|
|
|
|
# Slit 3, lower
|
|
Motor ss3d DMC2280 [params \
|
|
multichan dmc_mc4\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
host $dmc2280_controller4(host)\
|
|
port $dmc2280_controller4(port)\
|
|
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\
|
|
# host $dmc2280_controller2(host)\
|
|
# port $dmc2280_controller2(port)\
|
|
# 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\
|
|
# host $dmc2280_controller2(host)\
|
|
# port $dmc2280_controller2(port)\
|
|
# 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
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ss3ho readscript ss3readhoroffset
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#--------------------------------------------------------
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proc ss3vertoffsetscript {val} {
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set SU [SplitReply [ss3u]]
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set SD [SplitReply [ss3d]]
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set currentOffset [ expr $SU - ($SU + $SD)/2.0 ]
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set diff [expr $val - $currentOffset]
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set newD1U [expr $SU + $diff]
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set newD1D [expr $SD - $diff]
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return "ss3u=$newD1U,ss3d=$newD1D"
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}
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publish ss3vertoffsetscript user
|
|
|
|
#-------------------------------------------------------
|
|
proc ss3readvertoffset {} {
|
|
set SU [SplitReply [ss3u]]
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|
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
|
|
}
|