Reflectometry: Reflectometry bench driver

[John-Holt-Tessella]

As an OFFSPEC and POLREF scientists I would like to control my bench using the new reflectometry software. We need a driver in the driver layer to control the jacks.

Acceptance Criteria

• Driver exists and is controlled by the component layer setting seesaw, height of pivot and angle at the pivot
  • seesaw is value to add to j2 and take from j1
• Errors in jack motors are transmitted to components
• Error in slide axis is transmitted to components
• read back has two cases:
  1. seesaw setpoint is 0: readback is of angle and height; seesaw readback is 0
  2. seesaw setpoint is non-zero: readback is of seesaw and height; angle readback is fixed at setpoint
• seesaw must be autosaved so always has a value on init; if init is corrupt then its value is 0.
• corrections due to pivots (see spreadsheet are taken into account)

Notes

There are 4 axes to drive (height, angle, seesaw and slide) but only 3 axes in the bench (height of j1 and j2 and slide) so there is a free parameter. Slide is weird because it is a constant value for some angles. Just letting the component layer set height, angle and seesaw. This is where the above rules for readback come from