.. _motors:

Motion Stages
=============

Initializing and Using the Motor Controller
-------------------------------------------

The motors are run from a GUI interface that runs on one of the Unix hosts (such as Shade.ucolick.org)::

    saomot_gui &

Dispatchers have to be running in order for this GUI to connect to the Galil motor controller
(Dispatchers are currently installed on Shade). There are three Galil motor drivers, hence 3 dispatchers need to
be started up:: 
    
    ao restart saomot1
    ao restart saomot2
    ao restart saomot3

Motor Stages: Set Points and Limits
-----------------------------------

Each stage has nominal positions and limits to motion. The following tables document the
measurments taken in the lab in late 2013.

Field Steer Motors
~~~~~~~~~~~~~~~~~~

To control field steering with coordinated motor moves see :py:mod:`fieldSteer`

Scale data taken 11/7/13. 
Limit data taken 12/3/13.

+---+--------+----------+-------+---------+---------+--------+
|   | Mirror | Nominal  | Limit | Limit   | Scale:  | =      |
|   |        | Midpoint | in    | out     | degrees | DNs    |
+===+========+==========+=======+=========+=========+========+
| A | WFS2RY | -38766   | 13466 | -110346 |  2.94   | 12766  |
+---+--------+----------+-------+---------+---------+--------+
| B | WFS2RX | -32792   | 18194 | -115653 |  3.25   | 15000  |
+---+--------+----------+-------+---------+---------+--------+
| C | WFS1RX | -40696   | 7786  | -124997 |  3.35   | 15000  |
+---+--------+----------+-------+---------+---------+--------+
| D | WFS1RY | -23125   | 22551 | -94530  |  3.37   | 15000  |
+---+--------+----------+-------+---------+---------+--------+

Tip/Tilt Field Selection
~~~~~~~~~~~~~~~~~~~~~~~~

Dichroic Selection
~~~~~~~~~~~~~~~~~~

**WFS Dichroic**

+----------+------------------+
| Position |      count       |
+==========+==================+
| Splitter |      -6058       |
+----------+------------------+
| Open     |     -12470       |
+----------+------------------+

**TT Dichroic**

+----------+------------------+
| Position |       count      |
+==========+==================+
| Splitter |      13010       |
+----------+------------------+
| Mirror   |      -7403       |
+----------+------------------+
| Open     |                  |
+----------+------------------+

Calibration Source Stage
~~~~~~~~~~~~~~~~~~~~~~~~

+--------+----------+----------+
| Mode   |   Cal-X  | Cal-Y    |
+========+==========+==========+
| Red    |          |          |
+--------+----------+----------+
| White  |  -4072   |   1492   |
+--------+----------+----------+
| Acq    |          |          |
+--------+----------+----------+

WFS Lenslet Selection
~~~~~~~~~~~~~~~~~~~~~

+------+----------+-------------------------+
| Mode | Position |        Scale            |
+======+==========+=========================+
|   8x |  -446178 | ~   10 DN / 0.50 pixel  |
+------+----------+-------------------------+
|  16x |  -2206   | ~ 1000 DN / 0.25 pixel  |
+------+----------+-------------------------+
|  30x |  443354  |   alignment v           |
+------+----------+-------------------------+

**WFS Focus**
~~~~~~~~~~~~~~~~~~~~~

+----------+-----------------------------+
| Position |   Altitude  |   count       |
+==========+=============+===============+
|    NGS   |   Infinity  |    4045       |
+----------+-------------+---------------+
|    LGS   |    90 km    |    -5123      |
+----------+-------------+---------------+
|    LGS   |    120 km   |    -2831      |
+----------+-------------+---------------+
|    LGS   |    100 km   |    -4025      |
+----------+-------------+---------------+


Science Camera Configuration
~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Please refer to :ref:`SHARCS science Camera <sharcs>`