Replace MacroMotor with PseudoPositioner

[teddyrendahl]

Ophyd has a way to abstract multiple axes into a single object with a scientific unit.

[ZLLentz]

Ophyd docs at http://nsls-ii.github.io/ophyd/positioners.html#pseudopositioner

PsuedoPositioner basic examples from my testing:

from ophyd.device import Component as Cpt
from ophyd.positioner import SoftPositioner
from ophyd.pseudopos import (PseudoPositioner, PseudoSingle,
                            pseudo_position_argument,
                            real_position_argument)


class Test(PseudoPositioner):
   energy = Cpt(PseudoSingle, limits=(0, 1000))
   motor = Cpt(SoftPositioner, limits=(0, 100), init_pos=10)

   @pseudo_position_argument
   def forward(self, pseudo_pos):
       return self.RealPosition(motor=pseudo_pos.energy/10)

   @real_position_argument
   def inverse(self, real_pos):
       return self.PseudoPosition(energy=real_pos.motor*10)

In [14]: t.position
Out[14]: TestPseudoPos(energy=4.0)

In [15]: t.position.energy
Out[15]: 4.0

In [16]: t.energy.move(40)
Out[16]: MoveStatus(done=True, pos=test, elapsed=0.0, success=True, settle_time=0.0)

In [17]: t.energy.position
Out[17]: 40.0

[ZryletTC]

@klauer this looks familiar 🤔

[klauer]

Hah! Indeed it does...