New file, temporary until in motor release

xxxApp/Db/coordTrans2D.db

+# This database implements a generic 2-D coordinate transformation.  Given two
+# real motors (P)(MX) and (P)(MY), which move in the X,Y coordinate system,
+# it will move two soft motors (P)(MXP) and (P)(MYP) in the X',Y'
+# coordinate system.  The offset between the two coordinate systems is
+# X0 = (P)(MXP)C1 and Y0 = (P)(MYP)C1, and the coordinate systems are 
+# rotated by angle theta = (P)(MYP)C2.
+
+# These two records are where the soft motors write their output.
+# They are needed because writing to a transform record field does not
+# cause the record to process?
+# We use forward links to the transform record (rather than making the INPA and
+# INPB fields of the transform record CP) so that the scan record waits 
+# for the motors to move.
+grecord(ao,"$(P)$(MXP)DVAL") {
+	field(FLNK, "$(P)$(T)Drive")
+}
+grecord(ao,"$(P)$(MYP)DVAL") {
+	field(FLNK, "$(P)$(T)Drive")
+}
+
+# This record is processed whenever the soft motor records XP or YP write
+# new values to the DVAL records above.
+# Note: the INPA and INPB fields get their values directly from the .DVAL
+# fields of the soft motor records, rather than from the DVAL record above.
+# This is because the .DVAL fields are always correct, while the DVAL records
+# do not get updated when the soft motor .DVAL fields are modified in SET mode.
+grecord(transform,"$(P)$(T)Drive") {
+	field(INPA,"$(P)$(MXP).DVAL NPP NMS")
+	field(INPB,"$(P)$(MYP).DVAL NPP NMS")
+	field(INPC,"$(P)$(MXP)C1.VAL NPP NMS")
+	field(INPD,"$(P)$(MYP)C1.VAL NPP NMS")
+	field(INPE,"$(P)$(MYP)C2.VAL NPP NMS")
+        field(CLCF,"0.0174533 * E")
+	field(CLCG,"C+A*COS(F)-B*SIN(F)")
+        field(OUTG,"$(P)$(XDRV) PP MS")
+	field(CLCH,"D+A*SIN(F)+B*COS(F)")
+        field(OUTH,"$(P)$(YDRV) PP MS")
+	field(PREC,"$(PREC)")
+}
+
+# This record is processed to set the origin of the XP, YP coordinate system
+# to be the current position of the motors.
+grecord(transform,"$(P)$(T)synch") {
+	field(INPA,"$(P)$(XDRV) NPP NMS")
+	field(INPB,"$(P)$(YDRV) NPP NMS")
+	field(CLCC,"A")
+	field(OUTC,"$(P)$(MXP)C1.VAL PP MS")
+	field(CLCD,"B")
+	field(OUTD,"$(P)$(MYP)C1.VAL PP MS")
+	field(PREC,"$(PREC)")
+}
+
+# This record calculates the readback positions of the soft motors.  It 
+# processes whenever the readbacks of the real motors change, or whenever
+# one of the the geometry constants changes.
+grecord(transform,"$(P)$(T)Readback") {
+	field(INPA,"$(P)$(XRBV) CP MS")
+	field(INPB,"$(P)$(YRBV) CP MS")
+	field(INPC,"$(P)$(MXP)C1.VAL CP MS")
+	field(INPD,"$(P)$(MYP)C1.VAL CP MS")
+	field(INPE,"$(P)$(MYP)C2.VAL CP MS")
+        field(CLCF,"0.0174533 * E")
+	field(CLCG,"(B-D)*SIN(F)+(A-C)*COS(F)")
+	field(CLCH,"(B-D)*COS(F)-(A-C)*SIN(F)")
+	field(PREC,"$(PREC)")
+}
+
+# This record processes if either of the sof motor STOP fields is set.
+grecord(dfanout,"$(P)$(T)Stop") {
+        field(VAL,"1")
+        field(OUTA,"$(P)$(XSTOP) PP MS")
+        field(OUTB,"$(P)$(YSTOP) PP MS")
+}
+
+# This record computes whether the compound motor is done moving.  
+# It goes to 1 when both real motors are done moving.
+# positions of the real motors.
+grecord(calcout,"$(P)$(T)Done") {
+        field(INPA,"$(P)$(XDONE) CP MS")
+        field(INPB,"$(P)$(YDONE) CP MS")
+        field(CALC,"A & B")
+}

xxxApp/Db/pseudoMotor.db

+grecord(bo,"$(P)$(M)_able")
+{
+	field(DESC,"motor enable")
+	field(PINI,"YES")
+	field(OUT,"$(P)$(M)_ableput.A PP MS")
+	field(ZNAM,"Enable")
+	field(ONAM,"Disable")
+}
+grecord(motor,"$(P)$(M)")
+{
+	field(DESC,"$(DESC)")
+	field(DTYP,"Soft Channel")
+	field(DINP,"$(DINP)")
+	field(DIR,"$(DIR)")
+	field(VELO,"$(VELO)")
+	field(VMAX,"$(VELO)")
+	field(S,"0")
+	field(VBAS,"$(VBAS)")
+	field(SBAS,"0")
+	field(ACCL,"$(ACCL)")
+	field(BDST,"$(BDST)")
+	field(BVEL,"$(BVEL)")
+	field(BACC,"$(BACC)")
+	field(OUT,"$(OUT)")
+	field(RDBL,"$(RDBL)")
+        field(URIP,"Yes")
+        field(STOO,"$(STOO)")
+	field(MRES,"$(MRES)")
+	field(RRES,"$(RRES)")
+	field(PREC,"$(PREC)")
+	field(EGU,"$(EGU)")
+	field(DHLM,"$(DHLM)")
+	field(DLLM,"$(DLLM)")
+	field(TWV,"1")
+        field(RTRY,"0")
+        field(OFF,"0.")
+        field(FOFF,"Frozen")
+	field(NTM,"NO")
+}
+grecord(transform,"$(P)$(M)_ableput")
+{
+	field(CLCB,"a")
+	field(CLCC,"a")
+	field(OUTA,"$(P)$(M).DISA NPP NMS")
+	field(OUTB,"$(P)$(M).DISP NPP NMS")
+	field(OUTC,"$(P)$(M).DISA NPP NMS")
+}
+
+# Note: the C1-C5 records have PINI=1 so that they process once.
+# If they don't then they have STAT=UDF and SEVR=Invalid, and records
+# like the transform record will report bad input links.
+grecord(ao,"$(P)$(M)C1") {
+	field(DESC, "User-defined geom. const. 1")
+        field(VAL,"1")
+        field(PINI,"1")
+	field(PREC, "$(PREC)")
+	field(EGU, "$(EGU)")
+}
+grecord(ao,"$(P)$(M)C2") {
+	field(DESC, "User-defined geom. const. 2")
+        field(VAL,"1")
+        field(PINI,"1")
+	field(PREC, "$(PREC)")
+	field(EGU, "$(EGU)")
+}
+grecord(ao,"$(P)$(M)C3") {
+	field(DESC, "User-defined geom. const. 3")
+        field(VAL,"1")
+        field(PINI,"1")
+	field(PREC, "$(PREC)")
+	field(EGU, "$(EGU)")
+}
+grecord(ao,"$(P)$(M)C4") {
+	field(DESC, "User-defined geom. const. 4")
+        field(VAL,"1")
+        field(PINI,"1")
+	field(PREC, "$(PREC)")
+	field(EGU, "$(EGU)")
+}
+grecord(ao,"$(P)$(M)C5") {
+	field(DESC, "User-defined geom. const. 5")
+        field(VAL,"1")
+        field(PINI,"1")
+	field(PREC, "$(PREC)")
+	field(EGU, "$(EGU)")
+}

xxxApp/Db/pseudoMotor_settings.req

+# FILE... pseudoMotor_settings.req
+$(P)$(M).DHLM
+$(P)$(M).DLLM
+$(P)$(M).TWV
+$(P)$(M).DISA
+$(P)$(M).DISP
+$(P)$(M).OFF
+$(P)$(M)C1
+$(P)$(M)C2
+$(P)$(M)C3
+$(P)$(M)C4
+$(P)$(M)C5
+$(P)$(M)_able.VAL
+$(P)$(M):scanParms.SP
+$(P)$(M):scanParms.EP
+$(P)$(M):scanParms.NP

xxxApp/Db/sumDiff2D.db

+# This database implements a generic 2-D coordinate transformation.  Given two
+# real motors $(P)$(M1DRV) and $(P)$(M1DRV), which move parallel to each other,
+# it will move two soft motors $(P)$(SUM) and $(P)$(DIFF) as the weighted 
+# average and difference of the two real motors.  The weighting factors are 
+# as follows:
+# SUM = (( $(P)$(M1DRV) * $(P)$(SUM)C1 ) + ( $(P)$(M2DRV) * $(P)$(SUM)C2 )) /
+#       ( $(P)$(SUM)C1) + $(P)$(SUM)C2 )
+# DIFF = (( $(P)$(M1DRV) - $(P)$(M2DRV) ) * ( $(P)$(DIFF)C1 )
+# Thus the SUM C1 and C2 terms are the "distances" from the center and the 
+# DIFF C1 term is a units conversion, e.g. to degrees for a rotation system.
+
+# These two records are where the soft motors write their output.
+# They are needed because writing to a transform record field does not
+# cause the record to process?
+# We use forward links to the transform record (rather than making the INPA and
+# INPB fields of the transform record CP) so that the scan record waits 
+# for the motors to move.
+grecord(ao,"$(P)$(SUM)DVAL") {
+	field(FLNK, "$(P)$(T)Drive")
+}
+grecord(ao,"$(P)$(DIFF)DVAL") {
+	field(FLNK, "$(P)$(T)Drive")
+}
+
+# This record is processed whenever the soft motor records SUM or DIFF write
+# new values to the DVAL records above.
+# Note: the INPA and INPB fields get their values directly from the .DVAL
+# fields of the soft motor records, rather than from the DVAL record above.
+# This is because the .DVAL fields are always correct, while the DVAL records
+# do not get updated when the soft motor .DVAL fields are modified in SET mode.
+grecord(transform,"$(P)$(T)Drive") {
+	field(INPA,"$(P)$(SUM).DVAL NPP NMS")
+	field(INPB,"$(P)$(DIFF).DVAL NPP NMS")
+	field(INPC,"$(P)$(SUM)C1.VAL NPP NMS")
+	field(INPD,"$(P)$(SUM)C2.VAL NPP NMS")
+	field(INPE,"$(P)$(DIFF)C1.VAL NPP NMS")
+        field(CLCF,"C+D")
+	field(CLCG,"A+(B*D)/(E*F)")
+        field(OUTG,"$(P)$(M1DRV) PP MS")
+	field(CLCH,"A-(B*C)/(E*F)")
+        field(OUTH,"$(P)$(M2DRV) PP MS")
+	field(PREC,"$(PREC)")
+}
+
+# This record calculates the readback positions of the soft motors.  It 
+# processes whenever the readbacks of the real motors change, or whenever
+# one of the the geometry constants changes.
+grecord(transform,"$(P)$(T)Readback") {
+	field(INPA,"$(P)$(M1RBV) CP MS")
+	field(INPB,"$(P)$(M2RBV) CP MS")
+	field(INPC,"$(P)$(SUM)C1.VAL CP MS")
+	field(INPD,"$(P)$(SUM)C2.VAL CP MS")
+	field(INPE,"$(P)$(DIFF)C1.VAL CP MS")
+        field(CLCF,"C+D")
+	field(CLCG,"((A*C) + (B*D))/F")
+	field(CLCH,"(A-B)*E")
+	field(IVLA,"Do Nothing")
+	field(PREC,"$(PREC)")
+}
+
+# This record processes if either of the soft motor STOP fields is set.
+grecord(dfanout,"$(P)$(T)Stop") {
+        field(VAL,"1")
+        field(OUTA,"$(P)$(M1STOP) PP MS")
+        field(OUTB,"$(P)$(M2STOP) PP MS")
+}
+
+# This record computes whether the compound motor is done moving.  
+# It goes to 1 when both real motors are done moving.
+# positions of the real motors.
+grecord(calcout,"$(P)$(T)Done") {
+        field(INPA,"$(P)$(M1DONE) CP MS")
+        field(INPB,"$(P)$(M2DONE) CP MS")
+        field(CALC,"A & B")
+}