Added PVs for synchronizing motor home with a PandA

etc/builder.py

@@ -1016,6 +1016,24 @@ def __init__(self, name, P, R, BRICK, COMMAND, DESC):
     )
 
 
+class _PandAEncoderSync(AutoSubstitution):
+    TemplateFile = 'PandAEncoderSync.template'
+
+class PandAEncoderSync(Device):
+    def __init__(self, MOTOR, PANDA, BLOCK):
+        _PandAEncoderSync(
+            MOTOR=MOTOR,
+            PANDA=PANDA,
+            BLOCK=BLOCK
+        )
+
+    ArgInfo = makeArgInfo(__init__,
+        MOTOR = Simple("PV prefix for the controller", str),
+        PANDA = Simple("PV prefix for the PandA", str),
+        BLOCK = Simple("Name of the block to link to", str)
+    )
+
+
 # hiding templates which are just used in includes so as to not
 # dirty the auto list of builder objects (is this the best way to do this?)
 class _pmacDirectMotorTemplate(AutoSubstitution):

pmacApp/Db/Makefile

@@ -62,6 +62,9 @@ DB += zform.template
 # The following templates are used for CSS screens
 DB += pmacCSS.template
 
+# The following templates are used for synchronizing the PMAC values to the PandA readback
+DB += PandAEncoderSync.template 
+
 #----------------------------------------------------
 # If <anyname>.db template is not named <anyname>*.template add
 # <anyname>_template = <templatename>

pmacApp/Db/PandAEncoderSync.template

@@ -0,0 +1,56 @@
+# Macros
+# % macro, MOTOR,   PV Prefix for the motor to sync with
+# % macro, PANDA,   PV Prefix for the PandA
+# % macro, BLOCK,   Which block to link to
+
+record(calcout, "$(MOTOR):SCALECALC") {
+  field(CALC, "(B=0?A:-A)*(C>0?C:1)")
+  field(INPA, "$(MOTOR).ERES CP")
+  field(INPB, "$(MOTOR).DIR CP")
+  field(INPC, "$(MOTOR):SCALE CP")
+  field(OUT,  "$(PANDA):$(BLOCK):ValScale PP")
+  field(PREC, "4")
+}
+
+record(calcout, "$(MOTOR):OFFCALC") {
+  field(CALC, "A")
+  field(INPA, "$(MOTOR).OFF CP")
+  field(OUT,  "$(PANDA):$(BLOCK):ValOffset PP")
+  field(PREC, "4")
+}
+
+record(stringout, "$(MOTOR):UNITSCALC") {
+  field(OUT,  "$(PANDA):$(BLOCK):UNITS PP")
+  field(DOL, "$(MOTOR).EGU CP")
+  field(OMSL, "closed_loop")
+}
+
+record(calcout, "$(MOTOR):ONHOMED") {
+  field(DESC, "Trigger seq when motor has been homed")
+  field(CALC, "A=0")
+  field(INPA, "$(MOTOR):HOMING CP")
+  field(OOPT, "Transition To Non-zero")
+  field(OUT, "$(MOTOR):ONENABLE.PROC")
+  field(VAL, "1")
+}
+
+record(seq, "$(MOTOR):ONENABLE") {
+  field(DESC, "Process all the records that update the PandA")
+  field(DOL1, "1")
+  field(DLY1, 1)
+  field(LNK1, "$(MOTOR):SETPOSCALC.PROC PP")
+  field(DOL2, "1")
+  field(DLY2, 1)  
+  field(LNK2, "$(MOTOR):SCALECALC.PROC PP")
+  field(DOL3, "1")
+  field(DLY3, 1)
+  field(LNK3, "$(MOTOR):OFFCALC.PROC PP")
+}
+
+# % archiver 10 Monitor
+record(calcout, "$(MOTOR):SETPOSCALC") {
+  field(CALC, "A*(B>0?B:1)")
+  field(INPA, "$(MOTOR).REP") #WRITES TO THE MOTOR RECORD VAL IN COUNTS INSTEAD OF :RBV
+  field(INPB, "$(MOTOR):SCALE")
+  field(OUT, "$(PANDA):$(BLOCK):Setp PP")
+}