Modifed hexapod.py to work with firmware v1.3.x. From v1.0.x to v1.3.x the...

Modifed hexapod.py to work with firmware v1.3.x.  From v1.0.x to v1.3.x the return of self.XPS.GroupPositionTargetGet(self.socketID, self.GROUP_NAME, 6) changed from degree of freedom targets to actuator targets.

git-svn-id: https://subversion.xray.aps.anl.gov/kmp/HexapodSrc/trunk@389 f095f811-4e88-6c84-d33e-e382bdb4531c

hexapod.py

@@ -14,7 +14,7 @@ import CaChannel
 class hxp_interface:
 	# Defines
 	GROUP_NAME = "HEXAPOD"
-	IP = "164.54.125.17"
+	IP = "164.54.53.103"
 	PORT = 5001
 	TIMEOUT = 100.0
 	AXIS_NAMES = ("X", "Y", "Z", "U", "V", "W")
@@ -212,8 +212,16 @@ class hxp_interface:
 
 	def getTargetPositions(self):
 		# Get all six target positions
-		val = self.XPS.GroupPositionTargetGet(self.socketID, self.GROUP_NAME, 6)
-		return val[1:]
+		#!val = self.XPS.GroupPositionTargetGet(self.socketID, self.GROUP_NAME, 6)
+		#!return val[1:]
+		
+		retVal = []
+		for i in range(len(self.AXIS_NAMES)):
+		  axisStr = self.GROUP_NAME + "." + self.AXIS_NAMES[i]
+		  val = self.XPS.GroupPositionTargetGet(self.socketID, axisStr, 1)
+		  retVal.append(val[1])
+		
+		return retVal[:]
 
 	def getCurrentPositions(self):
 		# Get all six current positions

hxp_poller.py

@@ -14,7 +14,7 @@ import CaChannel
 class hxp_poller:
 	# Defines
         GROUP_NAME = "HEXAPOD"
-        IP = "164.54.125.17"
+        IP = "164.54.53.103"
         PORT = 5001
 	# At some point it would be good to make the tolerance dependent on the PREC field
         TOLERANCE = 0.00001