Implement EPICS model-3 asyn motor drivers with controller and axis subclasses.
npx skills add https://github.com/BCDA-APS/opencode-skills --skill motor-driver
Please help me install this Agent Skill. Skill: motor-driver Source: https://github.com/BCDA-APS/opencode-skills/tree/main/motor-driver Command: npx skills add https://github.com/BCDA-APS/opencode-skills --skill motor-driver
This Skill helps you write EPICS model-3 motor drivers that reliably translate motion commands into hardware protocol calls and continuously publish accurate per-axis status to EPICS records.
asynMotorController subclass for axis management and a per-axis asynMotorAxis subclass for motion and polling logic.move, moveVelocity, home, and stop methods that send the right controller commands for absolute/relative moves and jogging.poll() method that queries position/limits/moving state, sets motor status parameters, calls callbacks, and updates the poller’s fast/slow behavior.st.cmd using a clean configuration interface.Tell the AI to generate a new motor-driver module skeleton for your hardware by subclassing asynMotorController and asynMotorAxis, implementing move/home/stop/poll, and wiring iocsh registration for controller creation.
High-intent search queries and answers about installing and using this skill.
To write an EPICS model-3 motor driver, subclass asynMotorController and asynMotorAxis to execute motion commands and publish per-axis status, implementing move, home, stop, and poll methods for your hardware protocol.
Polling in an asyn motor driver uses a poller-driven poll() method that queries the device for position, limits, and moving state, sets motor status parameters consistently, calls callParamCallbacks(), and updates poller fast/slow behavior.
Register an IOC shell iocsh create function to instantiate the EPICS motor driver from st.cmd, providing a clean configuration interface for controller creation and axis management at runtime.
An EPICS model-3 asyn motor axis needs to implement move for absolute/relative moves, moveVelocity for jogging, home for homing, and stop methods that send the correct controller commands to the hardware.
Yes, this architecture applies to building hardware-specific motion support for one controller with multiple axes, using the asynMotorController subclass for axis management and asynMotorAxis subclasses for per-axis motion logic.
EPICS motor driver status updates require calling callParamCallbacks() inside the poll() method after setting motor status parameters like done, moving, comms errors, and limits, ensuring records receive accurate per-axis updates.
BCDA-APSCreates and configures IOC apps and modules with Bazel build system and runtime startup behavior.
BCDA-APSCreate and configure synApps IOC applications using mkioc templates and RELEASE setup.
BCDA-APSConfigure EPICS motor IOCs for model-3 asyn motor deployments.
wimbleroboticsAbstract hardware interfaces behind ROS 2 for interchangeable driver nodes.