From b30b71394ed46a9cac46d644881ea3d2a8467a53 Mon Sep 17 00:00:00 2001
From: gac-x04sa <gac-x04sa@x04sa-cons-2.psi.ch>
Date: Wed, 3 Jul 2019 16:28:19 +0200
Subject: [PATCH] Script execution

---
 script/device/Hexapod.py | 51 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100644 script/device/Hexapod.py

diff --git a/script/device/Hexapod.py b/script/device/Hexapod.py
new file mode 100644
index 0000000..2ec5f1b
--- /dev/null
+++ b/script/device/Hexapod.py
@@ -0,0 +1,51 @@
+_hex_baseplate_thickness=20.0
+
+
+# ----------------------------------------------------------------------
+def hex_show_pivot_point():
+  x = caget("X04SA-ES3-HXP:RBPIVOT_X")
+  y = caget("X04SA-ES3-HXP:RBPIVOT_Y")
+  z = caget("X04SA-ES3-HXP:RBPIVOT_Z")
+  z =  z - _hex_baseplate_thickness
+
+  print("pivot point xyz =  (%.4f, %.4f, %.4f) mm relative to center of Hexapod top plate surface\n" % (x,y,z))
+
+
+# ----------------------------------------------------------------------
+def hex_set_pivot_point(x, y, z):
+    # check if the dial values of the rotations are zero
+    if (hrox.read() != 0.0) ||  (hroy.read() != 0.0) || hroz.read() ) != 0.0)) {
+      print("The dial positions of the Hexapod rotations hrox, hroy and hroz have")
+      print("to be at their zero position to set the pivot point.")
+      return
+
+    z = z + _hex_baseplate_thickness
+
+    caput("X04SA-ES3-HXP:PIVOT_X", x)
+    caput("X04SA-ES3-HXP:PIVOT_Y", y)
+    caput("X04SA-ES3-HXP:PIVOT_Z", z)
+
+    hex_show_pivot_point()
+
+
+"""
+def hex_ini():
+  print ("Initialiaze Hexapod C-887 through EPICS\n")
+  home hx
+  waitmove
+
+
+# ----------------------------------------------------------------------
+def hex_show_all '{
+  printf("PI C-887 Hexapod:\n")
+  hex_show_pivot_point
+  printf("\n")
+  wm hx hy hz  hrox hroy hroz
+}'
+
+#---------------------------------------------------------------------
+# Oveloading of function
+def hexaShow '{
+  hex_show_all
+}'
+"""
\ No newline at end of file