From a6cace5223342d861b440766452af5d7e26049af Mon Sep 17 00:00:00 2001 From: vonka_j Date: Wed, 16 Apr 2025 16:17:09 +0200 Subject: [PATCH] Added PIDs to ECMC motors --- crq_exp/diffractometer.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/crq_exp/diffractometer.py b/crq_exp/diffractometer.py index da5e529..b6c984e 100755 --- a/crq_exp/diffractometer.py +++ b/crq_exp/diffractometer.py @@ -9,7 +9,7 @@ """ -from slic.core.adjustable import PVAdjustable, Linked, Adjustable +from slic.core.adjustable import PVAdjustable, Linked, Adjustable, Collection from slic.core.device import Device from slic.devices.general.motor import Motor @@ -19,7 +19,10 @@ class MotorECMC(Motor): super().__init__(ID, **kwargs) self.deadband_epics = PVAdjustable(self.name+'-SetAtTrgtDB',units='mm',name='Tolerance deadband for EPICS target reached flag.') self.deadband_ecmc = PVAdjustable(self.name+'-SetCtrlDB',units='mm', name='Tolerance deadband for ECMC servo motor control') - + self.p = PVAdjustable(self.name+'-Ctrl-Kp',name=self.name+' P parameter') + self.i = PVAdjustable(self.name+'-Ctrl-Ki',name=self.name+' I parameter') + self.d = PVAdjustable(self.name+'-Ctrl-Kd',name=self.name+' D parameter') + self.pids = Collection(self.name+'PID values',[self.p,self.i,self.d]) class Diffractometer(Device): def __init__(self, ID, **kwargs): super().__init__(ID, **kwargs)