motor-driver

What problem does it solve?

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.

Core Features & Use Cases

• Controller + Axis architecture: Implement an asynMotorController subclass for axis management and a per-axis asynMotorAxis subclass for motion and polling logic.
• Deterministic motion commands: Provide move, moveVelocity, home, and stop methods that send the right controller commands for absolute/relative moves and jogging.
• Correct status polling: Implement a critical poll() method that queries position/limits/moving state, sets motor status parameters, calls callbacks, and updates the poller’s fast/slow behavior.
• IOC shell integration: Register an iocsh create function so the driver can be instantiated from st.cmd using a clean configuration interface.

Quick Start

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.