#!../../bin/linux-x86/xpsMotor


< envPaths

cd ${TOP}

dbLoadDatabase("dbd/xpsMotor.dbd")
xpsMotor_registerRecordDeviceDriver(pdbbase)


epicsEnvSet("PREFIX","TST:")

### Motors

dbLoadTemplate "db/xpsTaggerHallHPS.substitutions"
dbLoadRecords "db/taggerHallMotorAliasesHPS.db", "pref=${PREFIX}"
dbLoadRecords "db/goniMotionSNL.db","C=TSTGONI"

# asyn port, IP address, IP port, number of axes, 
# active poll period (ms), idle poll period (ms), 
# enable set position, set position settling time (ms)
XPSCreateController("HPSXPS", "hpsxps", 5001, 8, 10, 500, 0, 500)

# XPS asyn port,  axis, groupName.positionerName, stepSize(1/0.00215 mm)
XPSCreateAxis("HPSXPS",0,"X.Pos"		,   "10"	)
XPSCreateAxis("HPSXPS",1,"Y.Pos"		,   "10"	)
XPSCreateAxis("HPSXPS",2,"rY.Roll"		,   "10" 	)

cd ${TOP}/iocBoot/${IOC}

#asSetFilename("${TOP}/iocBoot/common/ca_security.acf")

iocInit

# Here we put the offsets for the pitch and yaw stages that were observed by the survey group. 
# This offsets make the EPICS values  0 when the controller displays the 
# values that the survey group wanted to have on the XPS screen to have the axes 
# orthogonal to each other and the ring be perpendicular to the beam. 
# The signs are the same here as the signs that the survey group numbers are because 
# we also reversed the sign of the directions for the yaw stages to match 
# Ken's notations. 
#dbpf HD:GONI:PITCH.OFF  0.48000
# 
#dbpf HD:GONI:YAW.OFF -0.06000