#!../../bin/linux-x86_64/xpsMotor


< envPaths

cd ${TOP}

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

# Load IOC status records
dbLoadRecords("db/iocAdminSoft.db","IOC=MTRHLD")

epicsEnvSet("PREFIX","")
### Motors
dbLoadTemplate "db/xpsHallD.substitutions"

#dbLoadRecords "db/converters.db" 	,	"P=US1-2-BOT:, R=m2, pref=${PREFIX}"
dbLoadRecords "db/tac.db" 	 	, 	"P=US1-2-BOT:, R=m3, pref=${PREFIX}"
dbLoadRecords "db/polarimeter.db"	, 	"P=US1-2-BOT:, R=m4, pref=${PREFIX}"
dbLoadRecords "db/bpu_positions.db"	, 	"P=US1-2-BOT:, R=m5, pref=${PREFIX}"



# Load aliases for the motors controlled by the controllers in the main Hall D 
dbLoadRecords "db/mainHallMotorAliases.db",     "pref=${PREFIX}"

# 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("US1-2-BOT", "us1-2-bot", 5001, 8, 10, 500, 0, 500)

# XPSCreateController("US1-2-MID", "us1-2-mid", 5001, 8, 10, 500, 0, 500)

# XPS asyn port,  axis, groupName.positionerName, stepSize(1/0.00215 mm)
# for MRES=0.0127mm  stepSize=1/0.0127
# for integer number for stepSize , MRES = 0.012658228, stepSize = 79, in reality MRES = 0.0127
XPSCreateAxis("US1-2-BOT", 0, "Collimator.X",   "79")

# for integer number for stepSize , MRES = 0.007936508, stepSize = 126, in reality MRES = 0.00793
XPSCreateAxis("US1-2-BOT", 1, "Converter.Pos",   "126")

# for integer number for stepSize , MRES = 0.090909091 , stepSize = 11, in reality MRES = 0.09
XPSCreateAxis("US1-2-BOT", 2, "TAC.X",   "11")

# for integer number for stepSize , MRES = 0.166666667, stepSize = 6, in reality MRES = 0.17235
XPSCreateAxis("US1-2-BOT", 3, "Polarimeter.Target",   "6")

# for integer number for stepSize , MRES = 0.012658228, stepSize = 79, in reality MRES = 0.0127
XPSCreateAxis("US1-2-BOT", 4, "Profiler.X",   "79")

# for integer number for stepSize , MRES = 0.001, stepSize = 1000, in reality MRES = 0.001
XPSCreateAxis("US1-2-BOT", 5, "CollimatorVertical.Y",   "1000")


# for integer number for stepSize , MRES = 0.025, stepSize = 40, in reality MRES = 0.02514262
# XPSCreateAxis("US1-2-MID",0,"ComCalHorizontal.X",   "40")
# for integer number for stepSize , MRES = 0.005, stepSize = 200, in reality MRES = 0.0051269
# XPSCreateAxis("US1-2-MID",1,"ComCalVertical.Y",   "200")

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