Commit 745ce07e authored by Perceval Guillou's avatar Perceval Guillou
Browse files

clean mot mock yml

parent 14ca36fd
controller:
- module: mockup
class: FaultyMockup
axes:
- name: bad
disabled_cache: [position,dial_position]
steps_per_unit: 1000
velocity: 100
acceleration: 100
- class: mockup
name: test
switches:
- name: test_switch
axes:
- name: robz
steps_per_unit: 10000
velocity_high_limit: 1500
velocity_low_limit: 10
velocity: 100
acceleration: 300
low_limit: -1000
high_limit: 1000000000.0
unit: mm
user_tag: TEST.ROBZ
- name: robz2
steps_per_unit: 10000
velocity: 1000
acceleration: 100
- class: CustomMockup
module: mockup
axes:
- name: custom_axis
steps_per_unit: 1000
velocity: 2500
acceleration: 1000
custom_setting1: UNSET
- class: mockup
axes:
- class: MockupAxis
name: robu
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- class: MockupAxis
name: roby
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: mono
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: m2
steps_per_unit: 1000
velocity: 50
acceleration: 1
encoder: $m2enc
check_encoder: False
- name: m1
steps_per_unit: 1000
velocity: 50
acceleration: 1
encoder: $m1enc
- name: m0
steps_per_unit: 1
velocity: 1000
acceleration: 100
- name: hooked_m0
steps_per_unit: 1000
velocity: 500
acceleration: 300
backlash: 2
motion_hooks:
- $hook0
- name: hooked_m1
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook1
- name: hooked_error_m0
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook_pre_move_error
- name: hooked_error_m1
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook_post_move_error
- name: s1f
steps_per_unit: -1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1b
steps_per_unit: 1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1u
steps_per_unit: -1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1d
steps_per_unit: 1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: jogger
steps_per_unit: -500
velocity: 100
acceleration: 300
- name: omega
class: ModuloAxis
modulo: 360
steps_per_unit: 1000
velocity: 1000
acceleration: 300
- name: mot_maxee
steps_per_unit: 10
velocity: 100
acceleration: 300
encoder: $mot_maxee_enc
read_position: encoder
- class: MockupAxis
name: bsy
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- class: MockupAxis
name: bsz
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- class: MockupAxis
name: att1z
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- class: MockupAxis
name: mp2
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- class: NoSettingsAxis
name: nsa
steps_per_unit: 10000
velocity: 2500
acceleration: 1000
low_limit: -5
high_limit: 5
encoders:
- name: m1enc
steps_per_unit: 50
tolerance: 0.001
- name: m2enc
steps_per_unit: 50
tolerance: 0.001
- name: mot_maxee_enc
steps_per_unit: 1
- class: FaultyMockup
module: mockup
axes:
- name: bad
disabled_cache: [position,dial_position]
steps_per_unit: 1000
velocity: 100
acceleration: 100
- name: test
class: mockup
switches:
- name: test_switch
axes:
- name: robz
steps_per_unit: 10000
velocity_high_limit: 1500
velocity_low_limit: 10
velocity: 100
acceleration: 300
low_limit: -1000
high_limit: 1000000000.0
unit: mm
user_tag: TEST.ROBZ
- name: robz2
steps_per_unit: 10000
velocity: 1000
acceleration: 100
- class: slits
name: primary_slit
axes:
- name: $s1f
tags: real front
- name: $s1b
tags: real back
- name: $s1u
tags: real up
- name: $s1d
tags: real down
- name: s1vg
tags: vgap
- name: s1vo
tags: voffset
- name: s1hg
tags: hgap
low_limit: -15
- name: s1ho
tags: hoffset
- class: calc_motor_mockup
module: mockup
axes:
- name: $roby
tags: real real_mot
- name: calc_mot1
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $calc_mot1
tags: real real_mot
- name: calc_mot2
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $nsa
tags: real real_mot
- name: calc_mot3
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $robu
tags: real real_mot
- name: calc_mot4
tags: calc_mot
s_param: 2
- class: mockup
disabled_cache: [state]
axes:
- name: mot_1_disable_cache
steps_per_unit: 1000
velocity: 100
acceleration: 100
- name: mot_2_disable_cache
disabled_cache: [position]
steps_per_unit: 1000
velocity: 100
acceleration: 100
- class: mockup
axes:
- name: invalid_acc
steps_per_unit: 10
acceleration: 1e9
velocity: 100
- name: invalid_vel
steps_per_unit: 10
acceleration: 100
velocity: 1e9
- class: mockup
axes:
- name: invalid_cfg_axis
- class: EnergyWavelength
axes:
- name: $mono
tags: real monoang
- name: energy
tags: energy
dspace: 3.13542 #Si 111
low_limit: 6.0
high_limit: 16.
- name: wavelength
tags: wavelength
- class: mockup
axes:
- name: llbend1
steps_per_unit: -480000
sign: 1
velocity: 0.06666
acceleration: 0.16666
- name: llty1
steps_per_unit: -12800
sign: 1
velocity: 1
acceleration: 6.25
- name: llrz1
steps_per_unit: 625488
sign: 1
velocity: 0.0511
acceleration: 0.1279
- class: llangle_mockup
module: mockup
bend_zero: 0.0
bend_y: 43688.0
ty_zero: 30.
axes:
- name: $llbend1
tags: real bend
- name: $llty1
tags: real ty
- name: $llrz1
tags: real rz
- name: lltruebend1
tags: truebend
- name: llbragg1
tags: angle
- name: llbeamy1
tags: absty
hooks:
- name: hook0
plugin: bliss
class: MockupHook
module: motors.mockup
- name: hook1
plugin: bliss
class: MockupHook
module: motors.mockup
- name: hook_pre_move_error
plugin: bliss
class: MockupHook
module: motors.mockup
pre_move_error: true
- name: hook_post_move_error
plugin: bliss
class: MockupHook
module: motors.mockup
post_move_error: true
- class: CustomMockup
module: mockup
axes:
- name: custom_axis
steps_per_unit: 1000
velocity: 2500
acceleration: 1000
custom_setting1: UNSET
- class: mockup
axes:
- name: robu
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: roby
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: mono
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: m2
steps_per_unit: 1000
velocity: 50
acceleration: 1
encoder: $m2enc
check_encoder: False
- name: m1
steps_per_unit: 1000
velocity: 50
acceleration: 1
encoder: $m1enc
- name: m0
steps_per_unit: 1
velocity: 1000
acceleration: 100
- name: hooked_m0
steps_per_unit: 1000
velocity: 500
acceleration: 300
backlash: 2
motion_hooks:
- $hook0
- name: hooked_m1
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook1
- name: hooked_error_m0
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook_pre_move_error
- name: hooked_error_m1
steps_per_unit: 1
velocity: 1000
acceleration: 300
motion_hooks:
- $hook0
- $hook_post_move_error
- name: s1f
steps_per_unit: -1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1b
steps_per_unit: 1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1u
steps_per_unit: -1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: s1d
steps_per_unit: 1000
velocity: 500
acceleration: 100
low_limit: -10
high_limit: 10
- name: jogger
steps_per_unit: -500
velocity: 100
acceleration: 300
- name: omega
class: ModuloAxis
modulo: 360
steps_per_unit: 1000
velocity: 1000
acceleration: 300
- name: mot_maxee
steps_per_unit: 10
velocity: 100
acceleration: 300
encoder: $mot_maxee_enc
read_position: encoder
- name: bsy
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: bsz
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: att1z
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: mp2
class: MockupAxis
backlash: 2
steps_per_unit: 10000
velocity: 2500.0
acceleration: 1000.0
low_limit: -.inf
high_limit: .inf
default_cust_attr: 6.28
- name: nsa
class: NoSettingsAxis
steps_per_unit: 10000
velocity: 2500
acceleration: 1000
low_limit: -5
high_limit: 5
encoders:
- name: m1enc
steps_per_unit: 50
tolerance: 0.001
- name: m2enc
steps_per_unit: 50
tolerance: 0.001
- name: mot_maxee_enc
steps_per_unit: 1
- name: primary_slit
class: slits
axes:
- name: $s1f
tags: real front
- name: $s1b
tags: real back
- name: $s1u
tags: real up
- name: $s1d
tags: real down
- name: s1vg
tags: vgap
- name: s1vo
tags: voffset
- name: s1hg
tags: hgap
low_limit: -15
- name: s1ho
tags: hoffset
- class: calc_motor_mockup
module: mockup
axes:
- name: $roby
tags: real real_mot
- name: calc_mot1
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $calc_mot1
tags: real real_mot
- name: calc_mot2
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $nsa
tags: real real_mot
- name: calc_mot3
tags: calc_mot
s_param: 2
- class: calc_motor_mockup
module: mockup
axes:
- name: $robu
tags: real real_mot
- name: calc_mot4
tags: calc_mot
s_param: 2
- class: mockup
disabled_cache: [state]
axes:
- name: mot_1_disable_cache
steps_per_unit: 1000
velocity: 100
acceleration: 100
- name: mot_2_disable_cache
disabled_cache: [position]
steps_per_unit: 1000
velocity: 100
acceleration: 100
- class: mockup
axes: