For dev work:

1. stop any running loops in the .s19 software, then restart

./killXCD2.sh ; ./startXMS.sh

2)set up the default ports and UARTS for an egg (or 'doglegs' if doing those)

./assignPorts_forDebugOnly.py egg

3. update the ports:

./updatePorts.py

then set the active port and axis with:

./changeAxisDogleg DEBUG_PH (or _TH_S or _TH_L or _DL_A0 or _DL_A1)

3a) the first time you do this, you will need to clear the 'boot' error:

./quickAssign.py V19 0

3b) in other error modes, you can clear with: (this works on all motos, not just the doglegs)

./clearDogleg.py

then you can run homePhi on the phi motors, or homeThetaL or homeThetaS on those motors

./homePhi.py test

the 'test' can be any string, and checks against the kfdb to see if there is existing data. if it gets stuck in the loop you can go back and killXCD2 above.

Commands to control the Direct Laser controllers and the XCD Evaluation kit using USB

Direct Laser Alignment commands:

(all in XCDCommandCodes/bin)

./startXMS.sh -- starts the XMS, which is automatic when the device is powered

./stopXMS.sh -- stops the XMS, eg if in a broken loop.

./clearDogleg.py -- resets error states in the controller status. 8=nack, 9=busy, 1=fail, 98=rebooted

./homeDogleg.py -- moves the current axis to home and keeps track of rotations. stops if |rotations|>3

./gotoDogleg.py 3.1 -- moves the current axis to absolute position 3.1, with occasional backs to unbind. stops if |rotations|>3

./gotoDogleg.py L0_DL0_A0 1.7 -- moves axis A0 on DogLeg 0 to absolute position 1.7. If that axis is not what is currently being controlled, it saves the current axis data to a file, then loads the correct axis data from the named file before moving.

./relativeDogleg.py -0.5 -- moves the current axis -0.5 from its current position , with occasional backs to unbind. stops if |rotations|>3

if needed: ./quickAssign.py XAXIS 1 -- switches the current axis to axis 1 (other data will not be updated). Use '0' to switch to zero. ./changeAxisDogleg.py L0_DL0_A0 -- switches the axis to axis 0 for dogleg 0 on laser 0, and loads the last known variables for that axis from file to the controller, if the file exists. Writes out the current file for the current axis as well.

Files:

XCD Commands: talkNano.py:

readNano.py

{assign, config, configRev, home, kill, move, pulse, report}Nano.py: individual motor command scripts

cmdNano.py: high level command

variableDictionary.py: dictionary of XCD variables, used in some commands

commandDictionary.py: dictionary of XCD commands, used in cmdNano.py

XCD2 Commands:

Other: SetupXCD.sh: sets serial port baud rate in bash Home{Right, Left}.sh: sends XCD home command in bash

Ignore: playNano: