Newport Picomotor
=================

This service controls a Newport Picomotor Motion Controller. 
The following Newport Picomotors have been tested and used with catkit2 so far:

- `Model 8742 <https://www.newport.com/f/open-loop-picomotor-motion-controller>`_ (comes with a USB Flash Drive that contains communication drivers and software necessary for operating the controller, see page 42 of the `user manual <https://www.newport.com/mam/celum/celum_assets/np/resources/8742_User_Manual.pdf?1>`_)

Configuration
-------------

.. code-block:: YAML

    picomotor1:
        service_type: newport_picomotor
        simulated_service_type: newport_picomotor_sim
        interface: newport_picomotor
        requires_safety: false

        ip_address: 000.000.000.000
        max_step: 2147483647
        timeout: 60
        atol: 1
        daisy: 0  # use this when daisy chaining multiple picomotor controllers
        axes:
            x: 1
            y: 2
            z: 3
        sleep_per_step: 0.0005  # sleep time (s) between every step
        sleep_base: 0.1  # base sleep time (s) for every move command

Properties
----------
None.

Commands
--------
None.

Datastreams
-----------
``{axis_name}_command``: A movement command along the axis corresponding to axis_name (where axis_name can be x, y, or z). The axis names are defined by the config file.

``{axis_name}_current_position``: The current position of the picomotor along the axis corresponding to axis_name (where axis_name can be x, y, or z). The axis names are defined by the config file.