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Added PIDs to ECMC motors

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vonka_j
2025-04-16 16:17:09 +02:00
parent befcebb9b7
commit a6cace5223
1 changed files with 5 additions and 2 deletions
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7
crq_exp/diffractometer.py
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@ -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.core.device import Device
from slic.devices.general.motor import Motor from slic.devices.general.motor import Motor
@ -19,7 +19,10 @@ class MotorECMC(Motor):
super().__init__(ID, **kwargs) super().__init__(ID, **kwargs)
self.deadband_epics = PVAdjustable(self.name+'-SetAtTrgtDB',units='mm',name='Tolerance deadband for EPICS target reached flag.') 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.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): class Diffractometer(Device):
def __init__(self, ID, **kwargs): def __init__(self, ID, **kwargs):
super().__init__(ID, **kwargs) super().__init__(ID, **kwargs)