Merge pull request #512 from simonsobs/modify_for_site_wiregrid_actuator

Swap LSL/LSR/ST1 <--> LSL/LSR/ST2 for the bug fix at the site
simonsobs · Aug 22, 2023 · 7dd21f5 · 7dd21f5
2 parents d76f284 + b1f2105
commit 7dd21f5
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Showing 3 changed files with 16 additions and 16 deletions.
diff --git a/socs/agents/wiregrid_actuator/agent.py b/socs/agents/wiregrid_actuator/agent.py
@@ -90,7 +90,7 @@ def _move(self, distance, speedrate, LSLname, LSRname, LSlabel):
         if LSonoff:
             self.log.info(
                 '_move(): Stopped moving because '
-                'one of {} limit-switches is ON (LSL1={}, LSR1={})!'
+                'one of {} limit-switches is ON (LSL={}, LSR={})!'
                 .format(LSlabel, LSL, LSR))
         return True, \
             '_move(): Finish move(distance={}, speedrate={}, limit-switch={})'\
@@ -102,7 +102,7 @@ def _forward(self, distance, speedrate=0.2):
         if distance < 0.:
             distance = abs(distance)
         ret, msg, LSonoff = self._move(
-            distance, speedrate, 'LSL1', 'LSR1', 'inside')
+            distance, speedrate, 'LSL2', 'LSR2', 'inside')
         return ret, \
             '_forward(): '\
             'Finish forward(distance={}, speedrate={}, limit-switch={})'\
@@ -114,7 +114,7 @@ def _backward(self, distance, speedrate=0.2):
         if distance > 0.:
             distance = -1. * abs(distance)
         ret, msg, LSonoff = self._move(
-            distance, speedrate, 'LSL2', 'LSR2', 'outside')
+            distance, speedrate, 'LSL1', 'LSR1', 'outside')
         return ret, \
             '_backward(): '\
             'Finish backward(distance={}, speedrate={}, limit-switch={})'\
@@ -125,7 +125,7 @@ def _insert_eject(
             self, main_distance=920, main_speedrate=1.0, is_insert=True):
         # Function label
         flabel = 'insert' if is_insert else 'eject'
-        initial_ls_names = ['LSL2', 'LSR2'] if is_insert else ['LSL1', 'LSR1']
+        initial_ls_names = ['LSL1', 'LSR1'] if is_insert else ['LSL2', 'LSR2']
         move_func = self._forward if is_insert else self._backward
 
         # Check connection

diff --git a/socs/agents/wiregrid_actuator/limitswitch_config.py b/socs/agents/wiregrid_actuator/limitswitch_config.py
@@ -1,17 +1,17 @@
 # Digital IO
 IO_INFO = [
-    # Right actuator: Inside the forebaffle
-    {'name': 'LSR1', 'io': 'IN[1]', 'label': 'Right1Inside'},
     # Right actuator: Outside the forebaffle
-    {'name': 'LSR2', 'io': 'IN[2]', 'label': 'Right2Outside'},
+    {'name': 'LSR1', 'io': 'IN[1]', 'label': 'Right1Outside'},
+    # Right actuator: Inside the forebaffle
+    {'name': 'LSR2', 'io': 'IN[2]', 'label': 'Right2Inside'},
     # Right actuator: Spare
     {'name': 'LSR3', 'io': 'IN[3]', 'label': 'Right3NotConnected'},
     # Right actuator: Spare
     {'name': 'LSR4', 'io': 'IN[4]', 'label': 'Right4NotConnected'},
-    # Left actuator: Inside the forebaffle
-    {'name': 'LSL1', 'io': 'IN[5]', 'label': 'Left1Inside'},
     # Left actuator: Outside the forebaffle
-    {'name': 'LSL2', 'io': 'IN[6]', 'label': 'Left2Outside'},
+    {'name': 'LSL1', 'io': 'IN[5]', 'label': 'Left1Outside'},
+    # Left actuator: Inside the forebaffle
+    {'name': 'LSL2', 'io': 'IN[6]', 'label': 'Left2Inside'},
     # Left actuator: Spare
     {'name': 'LSL3', 'io': 'IN[7]', 'label': 'Left3NotConnected'},
     # Left actuator: Spare

diff --git a/socs/agents/wiregrid_actuator/stopper_config.py b/socs/agents/wiregrid_actuator/stopper_config.py
@@ -1,11 +1,11 @@
 # Digital IO
 IO_INFO = [
-    # Right stopper: Inside of the forebaffle interface
-    {'name': 'STR1', 'io': 'OUT[1]', 'label': 'Right1Inside'},
     # Right stopper: Outside of the forebaffle interface
-    {'name': 'STR2', 'io': 'OUT[2]', 'label': 'Right2Outside'},
-    # Left stopper: Inside of the forebaffle interface
-    {'name': 'STL1', 'io': 'OUT[3]', 'label': 'Left1Inside'},
+    {'name': 'STR1', 'io': 'OUT[1]', 'label': 'Right1Outside'},
+    # Right stopper: Inside of the forebaffle interface
+    {'name': 'STR2', 'io': 'OUT[2]', 'label': 'Right2Inside'},
     # Left stopper: Outside of the forebaffle interface
-    {'name': 'STL2', 'io': 'OUT[4]', 'label': 'Left2Outside'},
+    {'name': 'STL1', 'io': 'OUT[3]', 'label': 'Left1Outside'},
+    # Left stopper: Inside of the forebaffle interface
+    {'name': 'STL2', 'io': 'OUT[4]', 'label': 'Left2Inside'},
 ]