From 4b19fc744937e53c8689733f25dedf80fa8fd396 Mon Sep 17 00:00:00 2001
From: "Wolfgang Draxinger (root@gar-ex-erdastep)"
 <Wolfgang.Draxinger@physik.uni-muenchen.de>
Date: Thu, 8 Dec 2011 21:21:49 +0100
Subject: motiond started, MotionControl now keeps a dictionary of axis
 instance to index (for signal forwarding)

---
 motiond/motiond | 44 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)

(limited to 'motiond')

diff --git a/motiond/motiond b/motiond/motiond
index 6c2cadb..3bfbde2 100755
--- a/motiond/motiond
+++ b/motiond/motiond
@@ -1,2 +1,46 @@
 #!/usr/bin/python2
 # -*- encoding: utf-8 -*-
+
+import Phytron
+
+import MotionControl.MotionStage, MotionControl.PhytronAxis, MotionControl.Service
+from MotionControl.MotionStage import MotionStage
+from MotionControl.PhytronAxis import PhytronAxis
+from MotionControl.Service import Service
+
+ipcomm = Phytron.IPCOMM('/dev/ttyERDASTEP', axes=4)
+
+axis_x = PhytronAxis( ipcomm[0], \
+	max_run_freq = 825, \
+	initiator = PhytronAxis.INITIATOR_PLUS, \
+	initiator_position = 221786, \
+	scale = {'mm': 8000} )
+
+axis_y = PhytronAxis( ipcomm[1], \
+	max_run_freq = 825, \
+	initiator = PhytronAxis.INITIATOR_PLUS, \
+	initiator_position = 115256, \
+	scale = {'mm': 8000} )
+
+axis_z = PhytronAxis( ipcomm[2], \
+	max_run_freq = 500, \
+	initiator = PhytronAxis.INITIATOR_PLUS, \
+# FIXME: Z zero position needs yet to be determined
+	initiator_position = 217952, \
+	scale = {'mm': 8000} )
+
+axis_phi = PhytronAxis( ipcomm[3], \
+	max_run_freq = 1000, \
+	initiator = PhytronAxis.INITIATOR_MINUS, \
+	initiator_position = -273432, \
+	scale = {'°': 1600} )
+
+stage_axes = (axis_x, axis_y, axis_z, axis_phi)
+
+Service.stage = MotionStage(stage_axes)
+
+if __name__ == "__main__":
+	from rpyc.utils.server import ThreadedServer 
+	server = ThreadedServer(Service, port = 12345)
+	server.start()
+
-- 
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