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trying to address occasional motor never settling - unsure if merge #122

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22 changes: 22 additions & 0 deletions startup/02-nanops.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@


class NanoMotor(EpicsMotor):
tolerance = Cpt(Signal, value=0, kind="config")

if type(EpicsMotor._default_configuration_attrs) in [list]:
epics_config_attrs = EpicsMotor._default_configuration_attrs
else:
Expand All @@ -27,6 +29,26 @@ class NanoMotor(EpicsMotor):
stat = Cpt(EpicsSignal, '.STAT') #alarm status
oplp = Cpt(EpicsSignal, '.STOP') #USING .STOP to open control loop. normal .STOP should not do this

def move(self, position, wait=True, **kwargs):
status = super().move(position, wait=False, **kwargs)
setpoint = position
tolerance = self.tolerance.get()

def check_within_tolerance(value, timestamp, **kwargs):
if abs(value - setpoint) < tolerance:
status.set_finished()
self.clear_sub(check_within_tolerance, event_type=self.SUB_READBACK)

self.subscribe(check_within_tolerance, event_type=self.SUB_READBACK)
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise

return status


class NanoMotorOpenLoop(EpicsMotor): #TODO unverified for v3 asmbly epics
#_default_configuration_attrs = (
Expand Down