dodal.plans.motor_util_plans#
Functions
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Wrapper that does the following: |
Exceptions
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- dodal.plans.motor_util_plans.home_and_reset_wrapper(plan: Generator[Msg, Any, None], device: Device, smallest_move: float, maximum_move: float, group: str | None = None, wait_for_all: bool = True) Generator[Msg, Any, None][source]#
- dodal.plans.motor_util_plans.move_and_reset_wrapper(plan: Generator[Msg, Any, None], device_and_positions: dict[AnyDevice, float], smallest_move: float, maximum_move: float, group: str | None = None, wait_for_all: bool = True) Generator[Msg, Any, None][source]#
- Wrapper that does the following:
Caches the positions of all Motors on device
2. Throws a MoveTooLarge exception if any positions are maximum_move away from home_position 2. Moves any motor that is more than smallest_move away from the home_position to home_position 3. Runs the specified plan 4. Moves all motors back to their cached positions
- Parameters:
plan (Callable[[], MsgGenerator]) – The plan to move between homing and returning to the cache
device (Device) – The device to move. All Motors in the device will be cached and moved
smallest_move (float) – The smallest move that we care about doing the home and cache for. Useful for not wearing out motors if you have large tolerances
maximum_move (float) – If any Motor starts this far from the home an exception is raised and no moves occur
home_position (float) – The position to move every motor to after caching
group (str, optional) – If set the home move will be done using the home-{group} group and the reset to cache done using reset-{group}
wait_for_all (bool, optional) – If true the home and reset to cache will be waited on. If false it is left up to the caller to wait on them. Defaults to True.
device_and_positions (
dict[TypeVar(AnyDevice, bound=Device),float])
- Return type: