added radial motors, added message for when CHICs are skipped

devices/undulator.py

@@ -96,10 +96,29 @@ class Undulators(Adjustable):
                 t = a.set_target_value(k_new, hold=False)
                 tasks.append(t)
             wait_for_all(tasks)
+
+            # make sure new K values have been written TODO: needed?
+            sleep(0.5)
+
+            # switching on radial motors ...
+            wait_for_all([
+                a.adj_radial_on.set_target_value(1, hold=False) for a in self.adjs.values()
+            ])
+
+            # ... and pushing go to ensure proper movements
+            wait_for_all([
+                a.adj_radial_go.set_target_value(1, hold=False) for a in self.adjs.values()
+            ])
+
+            # make sure the undulators finished moving TODO: needed?
+            sleep(5)
+
             if self.adjust_chic:
                 print("CHIC adjustment follows")
                 self.chic.set_target_value(value, hold=False).wait() #TODO: test whether an additional sleep is needed
                 print("CHIC adjustment done")
+            else:
+                print("CHIC adjustment skipped")
 
         return self._as_task(change, hold=hold)
 
@@ -133,6 +152,8 @@ class Undulator(PVAdjustable):
         pvname_readback = name + ":K_READ"
         super().__init__(pvname_setvalue, pvname_readback=pvname_readback, accuracy=accuracy, active_move=True, name=name, internal=True)
         self.adj_energy = PVAdjustable(name + ":FELPHOTENE", internal=True)
+        self.adj_radial_on = PVAdjustable(name + ":RADIAL-ON.PROC", internal=True)
+        self.adj_radial_go = PVAdjustable(name + ":RADIAL-GO.PROC", internal=True)
 
     @property
     def energy(self):