From 845c890e7791ad867879f1c19ea399030fb98128 Mon Sep 17 00:00:00 2001
From: Will Barnett <william.barnett@diamond.ac.uk>
Date: Fri, 12 Sep 2025 08:35:23 +0100
Subject: [PATCH 1/4] Symetrie hexapod added records for setting speed

---
 pmacApp/Db/symetrie_hexapod.template | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/pmacApp/Db/symetrie_hexapod.template b/pmacApp/Db/symetrie_hexapod.template
index bdb0e114..e0b786fb 100644
--- a/pmacApp/Db/symetrie_hexapod.template
+++ b/pmacApp/Db/symetrie_hexapod.template
@@ -708,6 +708,23 @@ record(sseq, "$(P):OUZOFF_SEQ") {
   field(WAIT4, "Wait")
 }
 
+## Speed Control ##
+
+record(stringin, "$(P):PROG_VERSION") {
+  field(SCAN, "I/O Intr")
+  field(DTYP, "asynOctetRead")
+  field(INP, "@asyn($(PORT),0)PMAC_VDM_&$(COORD)P100")
+}
+
+substitute "name=noGuiObjectAssociation,VAR=&$(COORD)Q24,Q=:TSPEED,EGU=mm/s,VARIABLE_PREC=5"
+include "pmacVariableWrite.template"
+
+substitute "name=noGuiObjectAssociation,VAR=&$(COORD)Q25,Q=:RSPEED,EGU=deg/s,VARIABLE_PREC=5"
+include "pmacVariableWrite.template"
+
+substitute "name=noGuiObjectAssociation,VAR=&$(COORD)Q26,Q=:ACLTIME,EGU=msec,VARIABLE_PREC=5"
+include "pmacVariableWrite.template"
+
 
 #! Further lines contain data used by VisualDCT
 #! View(128,2243,1.1)

From ae3cd2595a9e539aed8ead26fd5a0da0c6487665 Mon Sep 17 00:00:00 2001
From: Will Barnett <william.barnett@diamond.ac.uk>
Date: Tue, 16 Sep 2025 08:11:54 +0100
Subject: [PATCH 2/4] Symetrie hexapod added speed PVs to overview screen

---
 pmacApp/opi/edl/symetrie_hexapod_CS.edl | 234 +++++++++++++++++++-----
 1 file changed, 193 insertions(+), 41 deletions(-)

diff --git a/pmacApp/opi/edl/symetrie_hexapod_CS.edl b/pmacApp/opi/edl/symetrie_hexapod_CS.edl
index 51667e9f..09aac162 100644
--- a/pmacApp/opi/edl/symetrie_hexapod_CS.edl
+++ b/pmacApp/opi/edl/symetrie_hexapod_CS.edl
@@ -4,9 +4,9 @@ major 4
 minor 0
 release 1
 x 1188
-y 62
+y 384
 w 1341
-h 555
+h 580
 font "helvetica-medium-r-18.0"
 ctlFont "courier-bold-r-18.0"
 btnFont "helvetica-medium-r-18.0"
@@ -21,7 +21,6 @@ topShadowColor index 1
 botShadowColor index 11
 title "Symetrie Hexapod - $(hexapod)"
 showGrid
-snapToGrid
 gridSize 5
 endScreenProperties
 
@@ -1035,7 +1034,7 @@ major 4
 minor 0
 release 0
 x 975
-y 285
+y 300
 w 145
 h 260
 lineColor index 14
@@ -1050,7 +1049,7 @@ major 4
 minor 1
 release 1
 x 975
-y 275
+y 292
 w 120
 h 14
 font "helvetica-medium-r-12.0"
@@ -1071,7 +1070,7 @@ major 4
 minor 1
 release 0
 x 980
-y 460
+y 475
 w 135
 h 45
 fgColor index 25
@@ -1092,7 +1091,7 @@ major 10
 minor 0
 release 0
 x 980
-y 510
+y 525
 w 135
 h 30
 controlPv "$(hexapod):RECOVERYSTA"
@@ -1228,7 +1227,7 @@ major 4
 minor 1
 release 0
 x 1255
-y 520
+y 535
 w 80
 h 25
 fgColor index 46
@@ -1671,7 +1670,7 @@ major 4
 minor 0
 release 0
 x 1130
-y 285
+y 300
 w 205
 h 230
 lineColor index 14
@@ -1686,9 +1685,9 @@ major 4
 minor 1
 release 1
 x 1130
-y 275
+y 292
 w 92
-h 14
+h 12
 font "helvetica-medium-r-12.0"
 fontAlign "center"
 fgColor index 14
@@ -1707,7 +1706,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 290
+y 305
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -1727,7 +1726,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 290
+y 305
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B0"
@@ -1744,7 +1743,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 310
+y 325
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B1"
@@ -1761,7 +1760,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 330
+y 345
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B2"
@@ -1778,7 +1777,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 350
+y 365
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B3"
@@ -1795,7 +1794,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 370
+y 385
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B4"
@@ -1812,7 +1811,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 390
+y 405
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B5"
@@ -1829,7 +1828,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 410
+y 425
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B6"
@@ -1846,7 +1845,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 430
+y 445
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B7"
@@ -1863,7 +1862,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 470
+y 485
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B9"
@@ -1880,7 +1879,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 450
+y 465
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.B8"
@@ -2320,7 +2319,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 410
+y 425
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2340,7 +2339,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 370
+y 385
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2360,7 +2359,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 390
+y 405
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2380,7 +2379,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 490
+y 505
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2400,7 +2399,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 470
+y 485
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2420,7 +2419,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 330
+y 345
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2440,7 +2439,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 350
+y 365
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2460,7 +2459,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 450
+y 465
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2480,7 +2479,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 310
+y 325
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -2500,7 +2499,7 @@ major 4
 minor 1
 release 1
 x 980
-y 295
+y 310
 w 135
 h 20
 font "helvetica-bold-r-14.0"
@@ -2520,7 +2519,7 @@ major 4
 minor 1
 release 0
 x 980
-y 315
+y 330
 w 135
 h 30
 fgColor index 25
@@ -3677,7 +3676,7 @@ major 4
 minor 1
 release 1
 x 980
-y 405
+y 420
 w 135
 h 20
 font "helvetica-bold-r-14.0"
@@ -3697,7 +3696,7 @@ major 10
 minor 0
 release 0
 x 980
-y 425
+y 440
 w 135
 h 30
 controlPv "$(hexapod):STALLPERCENT"
@@ -3716,7 +3715,7 @@ major 4
 minor 1
 release 1
 x 980
-y 350
+y 365
 w 135
 h 20
 font "helvetica-bold-r-14.0"
@@ -3736,7 +3735,7 @@ major 4
 minor 1
 release 0
 x 980
-y 370
+y 385
 w 135
 h 30
 fgColor index 25
@@ -3759,7 +3758,7 @@ major 4
 minor 1
 release 1
 x 980
-y 460
+y 475
 w 135
 h 45
 font "helvetica-bold-r-14.0"
@@ -3887,7 +3886,7 @@ major 4
 minor 0
 release 0
 x 1310
-y 490
+y 505
 w 20
 h 20
 controlPv "$(hexapod):MOTIONSTA.BA"
@@ -3904,7 +3903,7 @@ major 4
 minor 1
 release 1
 x 1135
-y 430
+y 445
 w 170
 h 20
 font "helvetica-bold-r-14.0"
@@ -3924,7 +3923,7 @@ major 4
 minor 4
 release 0
 x 1130
-y 520
+y 535
 w 120
 h 25
 fgColor index 43
@@ -4201,3 +4200,156 @@ fill
 font "arial-bold-r-12.0"
 endObjectProperties
 
+# (Rectangle)
+object activeRectangleClass
+beginObjectProperties
+major 4
+minor 0
+release 0
+x 1130
+y 175
+w 180
+h 105
+lineColor index 18
+fill
+fillColor index 5
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1130
+y 165
+w 56
+h 14
+font "helvetica-medium-r-12.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 7
+value {
+  "  Speed   "
+}
+autoSize
+border
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1135
+y 245
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "Time"
+}
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1135
+y 215
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "R"
+}
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1135
+y 185
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "T"
+}
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1180
+y 245
+w 120
+h 25
+controlPv "$(hexapod):ACLTIME"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1180
+y 215
+w 120
+h 25
+controlPv "$(hexapod):RSPEED"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1180
+y 185
+w 120
+h 25
+controlPv "$(hexapod):TSPEED"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+

From b0d9ea5dd02343b46d8992f85dc040daf149c40f Mon Sep 17 00:00:00 2001
From: Will Barnett <william.barnett@diamond.ac.uk>
Date: Tue, 16 Sep 2025 13:42:07 +0100
Subject: [PATCH 3/4] Symetrie hexapod correctly read program version

---
 pmacApp/Db/symetrie_hexapod.template | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/pmacApp/Db/symetrie_hexapod.template b/pmacApp/Db/symetrie_hexapod.template
index e0b786fb..693b35b1 100644
--- a/pmacApp/Db/symetrie_hexapod.template
+++ b/pmacApp/Db/symetrie_hexapod.template
@@ -710,10 +710,12 @@ record(sseq, "$(P):OUZOFF_SEQ") {
 
 ## Speed Control ##
 
-record(stringin, "$(P):PROG_VERSION") {
+record(ai, "$(P):PROG_VERSION:RBV") {
   field(SCAN, "I/O Intr")
-  field(DTYP, "asynOctetRead")
+  field(PINI, "NO")
+  field(DTYP, "asynFloat64")
   field(INP, "@asyn($(PORT),0)PMAC_VDM_&$(COORD)P100")
+  field(PREC, "6")
 }
 
 substitute "name=noGuiObjectAssociation,VAR=&$(COORD)Q24,Q=:TSPEED,EGU=mm/s,VARIABLE_PREC=5"

From f0033a42a552ef3e0dd0351a4a1bffdac7fc6140 Mon Sep 17 00:00:00 2001
From: Will Barnett <william.barnett@diamond.ac.uk>
Date: Tue, 16 Sep 2025 15:05:35 +0100
Subject: [PATCH 4/4] Symetrie hexapod display speed controls for symetrie
 software version 1.190723

---
 pmacApp/opi/edl/symetrie_hexapod_CS.edl       |  25 ++-
 pmacApp/opi/edl/symetrie_hexapod_overview.edl | 175 +++++++++++++++++-
 2 files changed, 196 insertions(+), 4 deletions(-)

diff --git a/pmacApp/opi/edl/symetrie_hexapod_CS.edl b/pmacApp/opi/edl/symetrie_hexapod_CS.edl
index 09aac162..a1022320 100644
--- a/pmacApp/opi/edl/symetrie_hexapod_CS.edl
+++ b/pmacApp/opi/edl/symetrie_hexapod_CS.edl
@@ -4,7 +4,7 @@ major 4
 minor 0
 release 1
 x 1188
-y 384
+y 495
 w 1341
 h 580
 font "helvetica-medium-r-18.0"
@@ -20,7 +20,6 @@ ctlBgColor2 index 3
 topShadowColor index 1
 botShadowColor index 11
 title "Symetrie Hexapod - $(hexapod)"
-showGrid
 gridSize 5
 endScreenProperties
 
@@ -1687,7 +1686,7 @@ release 1
 x 1130
 y 292
 w 92
-h 12
+h 14
 font "helvetica-medium-r-12.0"
 fontAlign "center"
 fgColor index 14
@@ -4200,6 +4199,19 @@ fill
 font "arial-bold-r-12.0"
 endObjectProperties
 
+# (Group)
+object activeGroupClass
+beginObjectProperties
+major 4
+minor 0
+release 0
+x 1130
+y 165
+w 180
+h 115
+
+beginGroup
+
 # (Rectangle)
 object activeRectangleClass
 beginObjectProperties
@@ -4353,3 +4365,10 @@ font "arial-bold-r-12.0"
 fontAlign "center"
 endObjectProperties
 
+endGroup
+
+visPv "$(hexapod):PROG_VERSION:RBV"
+visMin "1.190723"
+visMax "1.190724"
+endObjectProperties
+
diff --git a/pmacApp/opi/edl/symetrie_hexapod_overview.edl b/pmacApp/opi/edl/symetrie_hexapod_overview.edl
index b31197eb..f3d42248 100644
--- a/pmacApp/opi/edl/symetrie_hexapod_overview.edl
+++ b/pmacApp/opi/edl/symetrie_hexapod_overview.edl
@@ -4,7 +4,7 @@ major 4
 minor 0
 release 1
 x 1153
-y 50
+y 421
 w 1393
 h 554
 font "helvetica-medium-r-18.0"
@@ -4616,3 +4616,176 @@ fill
 font "arial-bold-r-14.0"
 endObjectProperties
 
+# (Group)
+object activeGroupClass
+beginObjectProperties
+major 4
+minor 0
+release 0
+x 1205
+y 155
+w 180
+h 115
+
+beginGroup
+
+# (Rectangle)
+object activeRectangleClass
+beginObjectProperties
+major 4
+minor 0
+release 0
+x 1205
+y 165
+w 180
+h 105
+lineColor index 18
+fill
+fillColor index 5
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1205
+y 155
+w 56
+h 14
+font "helvetica-medium-r-12.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 7
+value {
+  "  Speed   "
+}
+autoSize
+border
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1210
+y 235
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "Time"
+}
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1210
+y 205
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "R"
+}
+endObjectProperties
+
+# (Static Text)
+object activeXTextClass
+beginObjectProperties
+major 4
+minor 1
+release 1
+x 1210
+y 175
+w 40
+h 25
+font "helvetica-bold-r-14.0"
+fontAlign "center"
+fgColor index 14
+bgColor index 3
+useDisplayBg
+value {
+  "T"
+}
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1255
+y 235
+w 120
+h 25
+controlPv "$(hexapod):ACLTIME"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1255
+y 205
+w 120
+h 25
+controlPv "$(hexapod):RSPEED"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+
+# (Textentry)
+object TextentryClass
+beginObjectProperties
+major 10
+minor 0
+release 0
+x 1255
+y 175
+w 120
+h 25
+controlPv "$(hexapod):TSPEED"
+fgColor index 25
+fgAlarm
+bgColor index 3
+fill
+font "arial-bold-r-12.0"
+fontAlign "center"
+endObjectProperties
+
+endGroup
+
+visPv "$(hexapod):PROG_VERSION:RBV"
+visMin "1.190723"
+visMax "1.190724"
+endObjectProperties
+