Added speed algorithm description

Missed a ' mark

.ci-local/base3-14.set

@@ -1,3 +0,0 @@
-BASE=3.14
-
-include modules

.ci-local/base3-15.set

@@ -1,3 +0,0 @@
-BASE=3.15
-
-include modules

.ci-local/base7-0.set

@@ -1,3 +0,0 @@
-BASE=7.0
-
-include modules

.ci-local/github-actions/post-prepare.py

@@ -1,70 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import shutil
-import re
-
-# Setup ANSI Colors (copied from cue.py)
-ANSI_RED = "\033[31;1m"
-ANSI_GREEN = "\033[32;1m"
-ANSI_YELLOW = "\033[33;1m"
-ANSI_BLUE = "\033[34;1m"
-ANSI_MAGENTA = "\033[35;1m"
-ANSI_CYAN = "\033[36;1m"
-ANSI_RESET = "\033[0m"
-ANSI_CLEAR = "\033[0K"
-
-def cat(filename):
-    '''
-    Print the contents of a file
-    '''
-    with open(filename, 'r') as fh:
-        for line in fh:
-            print(line.strip())
-
-def sanity_check(filename):
-    '''
-    Include the contents of a file in the github-actions log
-    '''
-    print("{}Contents of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-    cat(filename)
-    print("{}End of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-
-if 'HOME' in os.environ:
-    # Linux & OS X
-    cache_dir = os.path.join(os.environ['HOME'], ".cache")
-else:
-    # Windows
-    cache_dir = os.path.join(os.environ['HOMEDRIVE'], os.environ['HOMEPATH'], ".cache")
-
-module_dir = os.getenv('GITHUB_WORKSPACE')
-
-# Copy the github-actions RELEASE.local to the configure dir
-filename = "configure/RELEASE.local"
-shutil.copy("{}/RELEASE.local".format(cache_dir), filename)
-
-# Get the variable from the example release file
-example = "configure/EXAMPLE_RELEASE.local"
-fh = open(example, "r")
-lines = fh.readlines()
-fh.close()
-pObj = re.compile('(MOTOR_[^=]+)')
-module_var = None
-for line in lines:
-    mObj = pObj.match(line)
-    if mObj != None:
-      module_var = mObj.group()
-      break
-
-# Add the path to the driver module to the RELEASE.local file, since it is needed by the example IOC
-fh = open(filename, "a")
-fh.write("{}={}\n".format(module_var, module_dir))
-fh.close()
-sanity_check(filename)
-
-# Enable the building of example IOCs
-filename = "configure/CONFIG_SITE.local"
-fh = open(filename, 'w')
-fh.write("BUILD_IOCS = YES")
-fh.close()
-sanity_check(filename)

.ci-local/github-actions/sanity-check.py

@@ -1,9 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import pprint
-
-pprint.pprint(dict(os.environ), width = 1)
-
-#!print("{}", breakmehere)
-

.ci-local/modules.set

@@ -1,9 +0,0 @@
-MODULES="sncseq ipac asyn autosave busy motor"
-
-SNCSEQ=R2-2-9
-IPAC=master
-ASYN=R4-42
-AUTOSAVE=R5-10-2
-BUSY=R1-7-3
-MOTOR=master
-MOTOR_RECURSIVE=NO

.ci-local/travis/post-prepare.py

@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-
-import os
-import shutil
-
-# ugly hack: copy cue.py so that it can be imported
-shutil.copy('.ci/cue.py', '.ci-local/travis')
-from cue import *
-
-def cat(filename):
-    '''
-    Print the contents of a file
-    '''
-    with open(filename, 'r') as fh:
-        for line in fh:
-            print(line.strip())
-
-def sanity_check(filename):
-    '''
-    Include the contents of a file in the travis log
-    '''
-    print("{}Contents of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-    cat(filename)
-    print("{}End of {}{}".format(ANSI_BLUE, filename, ANSI_RESET))
-
-# Add the path to the driver module to the RELEASE.local file, since it is needed by the example IOC
-update_release_local('MOTOR_DSM', os.getenv('TRAVIS_BUILD_DIR'))
-
-# Copy the travis RELEASE.local to the configure dir
-filename = "configure/RELEASE.local"
-shutil.copy("{}/RELEASE.local".format(cachedir), filename)
-sanity_check(filename)
-
-# Enable the building of example IOCs
-filename = "configure/CONFIG_SITE.local"
-fh = open(filename, 'w')
-fh.write("BUILD_IOCS = YES")
-fh.close()
-sanity_check(filename)
-
-# Remove cue.py
-os.remove('.ci-local/travis/cue.py')
-os.remove('.ci-local/travis/cue.pyc')

.github/workflows/ci-scripts-build-full.yml

@@ -1,211 +0,0 @@
-# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-# This is YAML - indentation levels are crucial
-
-# Set the 'name:' properties to values that work for you (MYMODULE)
-
-name: "GHA full build"
-
-# Only run manually
-on:
-  workflow_dispatch
-
-env:
-  SETUP_PATH: .ci-local:.ci
-  # For the sequencer on Linux/Windows/MacOS
-  APT: re2c
-  CHOCO: re2c
-  BREW: re2c
-
-jobs:
-  build-base:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-    # Set environment variables from matrix parameters
-    env:
-      CMP: ${{ matrix.cmp }}
-      BCFG: ${{ matrix.configuration }}
-      BASE: ${{ matrix.base }}
-      WINE: ${{ matrix.wine }}
-      RTEMS: ${{ matrix.rtems }}
-      RTEMS_TARGET: ${{ matrix.rtems_target }}
-      EXTRA: ${{ matrix.extra }}
-      TEST: ${{ matrix.test }}
-      SET: ${{ matrix.set }}
-    strategy:
-      fail-fast: false
-      matrix:
-        # Job names also name artifacts, character limitations apply
-        include:
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            wine: "64"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + MinGW"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: static
-            wine: "64"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + MinGW, static"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: static
-            extra: "CMD_CXXFLAGS=-std=c++11"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 C++11, static"
-
-          - os: ubuntu-20.04
-            cmp: clang
-            configuration: default
-            extra: "CMD_CXXFLAGS=-std=c++11"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 clang-10 C++11"
-
-          ### fails building autosave
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "4.10"
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-4.10"
-
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            rtems: "4.9"
-            base: "7.0"
-            set: modules
-            name: "Ub-20 gcc-9 + RT-4.9"
-
-          ### fails building asyn
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "5"
-          #!  rtems_target: RTEMS-pc686-qemu
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-5.1 pc686"
-
-          ### fails building autosave
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc
-          #!  configuration: default
-          #!  rtems: "5"
-          #!  rtems_target: RTEMS-beatnik
-          #!  test: NO
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-9 + RT-5.1 beatnik"
-
-          - os: ubuntu-18.04
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Ub-18 gcc-7"
-
-          ### g++-8 not found
-          #!- os: ubuntu-18.04
-          #!  cmp: gcc-8
-          #!  utoolchain: true
-          #!  configuration: default
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-18 gcc-8"
-
-          #!- os: ubuntu-20.04
-          #!  cmp: gcc-8
-          #!  utoolchain: true
-          #!  configuration: default
-          #!  base: "7.0"
-          #!  set: modules
-          #!  name: "Ub-20 gcc-8"
-
-          - os: ubuntu-20.04
-            cmp: clang
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Ub-20 clang-10"
-
-          - os: macos-latest
-            cmp: clang
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "MacOS clang-12"
-
-          - os: windows-2019
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Win2019 MinGW"
-
-          - os: windows-2019
-            cmp: gcc
-            configuration: static
-            base: "7.0"
-            set: modules
-            name: "Win2019 MinGW, static"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "Win2019 MSC-19"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: static
-            base: "7.0"
-            set: modules
-            name: "Win2019 MSC-19, static"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Automatic core dumper analysis
-      uses: mdavidsaver/ci-core-dumper@master
-    - name: "apt-get install"
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
-      if: runner.os == 'Linux'
-    - name: "apt-get install ${{ matrix.cmp }}"
-      run: |
-        sudo apt-get -y install software-properties-common
-        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
-        sudo apt-get update
-        sudo apt-get -y install ${{ matrix.cmp }}
-      if: matrix.utoolchain
-    - name: Sanity Check
-      run: python .ci-local/github-actions/sanity-check.py
-    - name: Prepare and compile dependencies
-      run: python .ci/cue.py prepare
-    - name: Patch main module
-      run: python .ci-local/github-actions/post-prepare.py
-    - name: Build main module
-      run: python .ci/cue.py build
-    - name: Run main module tests
-      run: python .ci/cue.py test
-    - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
-      with:
-        name: tapfiles ${{ matrix.name }}
-        path: '**/O.*/*.tap'
-    - name: Collect and show test results
-      run: python .ci/cue.py test-results

.github/workflows/ci-scripts-build.yml

@@ -1,109 +0,0 @@
-# .github/workflows/ci-scripts-build.yml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-# This is YAML - indentation levels are crucial
-
-# Set the 'name:' properties to values that work for you (MYMODULE)
-
-name: "GHA build"
-
-# Trigger on pushes to the master branch and PRs
-on:
-  push:
-    paths-ignore:
-      - 'documentation/*'
-      - '**/*.html'
-      - '**/*.md'
-      - '.github/workflows/ci-scripts-build-full.yml'
-    branches:
-      - master
-  pull_request:
-    paths-ignore:
-      - 'documentation/*'
-      - '**/*.html'
-      - '**/*.md'
-      - '.github/workflows/ci-scripts-build-full.yml'
-
-env:
-  SETUP_PATH: .ci-local:.ci
-  # For the sequencer on Linux/Windows/MacOS
-  APT: re2c
-  CHOCO: re2c
-  BREW: re2c
-
-jobs:
-  build-base:
-    name: ${{ matrix.name }}
-    runs-on: ${{ matrix.os }}
-    # Set environment variables from matrix parameters
-    env:
-      CMP: ${{ matrix.cmp }}
-      BCFG: ${{ matrix.configuration }}
-      BASE: ${{ matrix.base }}
-      WINE: ${{ matrix.wine }}
-      RTEMS: ${{ matrix.rtems }}
-      RTEMS_TARGET: ${{ matrix.rtems_target }}
-      EXTRA: ${{ matrix.extra }}
-      TEST: ${{ matrix.test }}
-      SET: ${{ matrix.set }}
-    strategy:
-      fail-fast: false
-      matrix:
-        # Job names also name artifacts, character limitations apply
-        include:
-          - os: ubuntu-20.04
-            cmp: gcc
-            configuration: default
-            base: "7.0"
-            set: modules
-            name: "7.0 Ub-20 gcc-9"
-        
-          - os: macos-latest
-            cmp: clang
-            configuration: default
-            base: "3.15"
-            set: modules
-            name: "3.15 MacOS clang-12"
-
-          - os: windows-2019
-            cmp: vs2019
-            configuration: static
-            base: "3.15"
-            set: modules
-            name: "3.15 Win VS2019, static"
-
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: true
-    - name: Automatic core dumper analysis
-      uses: mdavidsaver/ci-core-dumper@master
-    - name: "apt-get install"
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install qemu-system-x86 g++-mingw-w64-x86-64 gdb
-      if: runner.os == 'Linux'
-    - name: "apt-get install ${{ matrix.cmp }}"
-      run: |
-        sudo apt-get -y install software-properties-common
-        sudo add-apt-repository -y ppa:ubuntu-toolchain-r/test
-        sudo apt-get update
-        sudo apt-get -y install ${{ matrix.cmp }}
-      if: matrix.utoolchain
-    - name: Sanity Check
-      run: python .ci-local/github-actions/sanity-check.py
-    - name: Prepare and compile dependencies
-      run: python .ci/cue.py prepare
-    - name: Patch main module
-      run: python .ci-local/github-actions/post-prepare.py
-    - name: Build main module
-      run: python .ci/cue.py build
-    - name: Run main module tests
-      run: python .ci/cue.py test
-    - name: Upload tapfiles Artifact
-      uses: actions/upload-artifact@v2
-      with:
-        name: tapfiles ${{ matrix.name }}
-        path: '**/O.*/*.tap'
-    - name: Collect and show test results
-      run: python .ci/cue.py test-results

.gitmodules

@@ -1,3 +0,0 @@
-[submodule ".ci"]
-	path = .ci
-	url = https://github.com/epics-base/ci-scripts

.travis.yml

@@ -1,143 +0,0 @@
-# .travis.xml for use with EPICS Base ci-scripts
-# (see: https://github.com/epics-base/ci-scripts)
-
-language: cpp
-compiler: gcc
-dist: xenial
-
-cache:
-  directories:
-  - $HOME/.cache
-
-env:
-  global:
-    - SETUP_PATH=.ci-local:.ci
-    # for the sequencer on Windows
-    - CHOCO=re2c
-
-addons:
-  apt:
-    packages:
-    # for all EPICS builds
-    - libreadline6-dev
-    - libncurses5-dev
-    - perl
-    # for clang compiler
-    - clang
-    # for mingw builds (32bit and 64bit)
-    - g++-mingw-w64-i686
-    - g++-mingw-w64-x86-64
-    # for RTEMS cross builds
-    - qemu-system-x86
-  homebrew:
-    packages:
-    # for the sequencer
-    - re2c
-    update: true
-
-install:
-  - python .ci/cue.py prepare
-  # ugly hacks go here:
-  - python .ci-local/travis/post-prepare.py
-
-script:
-  - python .ci/cue.py build
-  - python .ci/cue.py test
-  - python .ci/cue.py test-results
-
-# If you need to do more during install and build,
-# add a local directory to your module and do e.g.
-#  - ./.ci-local/travis/install-extras.sh
-
-# Define build jobs
-
-# Well-known variables to use
-# SET      source setup file
-# EXTRA    content will be added to make command line
-# STATIC   set to YES for static build (default: NO)
-# TEST     set to NO to skip running the tests (default: YES)
-# VV       set to make build scripts verbose (default: unset)
-
-# Usually from setup files, but may be specified or overridden
-#  on a job line
-# MODULES  list of dependency modules
-# BASE     branch or release tag name of the EPICS Base to use
-# <MODULE> branch or release tag for a specific module
-# ...      see README for setup file syntax description
-
-jobs:
-  include:
-
-# Older Base releases
-
-  - env: SET=base3-14
-
-  - env: SET=base3-14 BCFG=static
-
-  - env: SET=base3-15
-
-  - env: SET=base3-15 BCFG=static
-
-# Default gcc, static build
-
-  - env: SET=base7-0
-
-  - env: SET=base7-0 BCFG=static
-
-# Default clang build
-
-  - env: SET=base7-0
-    compiler: clang
-
-  - env: SET=base7-0 EXTRA="CMD_CXXFLAGS=-std=c++11"
-    compiler: clang
-
-# Trusty: compiler versions very close to RHEL 7
-
-  - env: SET=base7-0
-    dist: trusty
-
-  - env: SET=base7-0 BCFG=debug
-    dist: trusty
-
-# Other gcc versions (added as an extra package)
-
-  - env: SET=base7-0
-    compiler: gcc-6
-    addons: { apt: { packages: ["g++-6"], sources: ["ubuntu-toolchain-r-test"] } }
-
-  - env: SET=base7-0
-    compiler: gcc-7
-    addons: { apt: { packages: ["g++-7"], sources: ["ubuntu-toolchain-r-test"] } }
-
-# Cross-compilations to Windows using MinGW and WINE
-    
-  - env: SET=base7-0 WINE=32 TEST=NO BCFG=static
-
-  - env: SET=base7-0 WINE=64 TEST=NO
-
-# Windows builds
-
-  - env: SET=base7-0 
-    os: windows
-    compiler: vs2017
-
-  - env: SET=base7-0 BCFG=static
-    os: windows
-    compiler: vs2017
-
-  - env: SET=base7-0 BCFG=debug
-    os: windows
-    compiler: vs2017
-
-# MacOS build
-
-  - env: SET=base7-0
-    os: osx
-    compiler: clang
-
-# Cross-compilation to RTEMS
-
-  - env: SET=base7-0 RTEMS=4.9
-
-  - env: SET=base7-0 RTEMS=4.10

README.md

@@ -3,23 +3,93 @@ motorDSM
 
 EPICS motor drivers for the following [Dynamic Structures and Materials](https://www.dynamic-structures.com/) motor controllers: MD-90
 
-[![Build Status](https://github.com/Binary-Coalescence/motorDSM/actions/workflows/ci-scripts-build.yml/badge.svg)](https://github.com/Binary-Coalescence/motorDSM/actions/workflows/ci-scripts-build.yml)
-
 motorDSM is a submodule of [motor](https://github.com/epics-modules/motor).  When motorDSM is built in the ``motor/modules`` directory, no manual configuration is needed.
 
 motorDSM can also be built outside of motor by copying it's ``configure/EXAMPLE_RELEASE.local`` file to ``RELEASE.local`` and defining the paths to ``EPICS_BASE``, ``MOTOR``, and itself.
 
 motorDSM contains an example IOC that is built if ``configure/CONFIG_SITE.local`` sets ``BUILD_IOCS = YES``.  The example IOC can be built outside of the driver module.  Copy ``iocs/dsmIOC/configure/EXAMPLE_RELEASE.local`` to ``RELEASE.local`` and uncomment and set the paths for the appropriate lines depending on whether motorDSM was built inside the motor module or independently.
 
-To run the example IOC, in the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run
+# Running an example IOC
 
-    $ ../../bin/linux-x86_64/dsm st.cmd.md90
+To run the example IOC, build the packages listed below, then:  
+
+1. Follow the steps in "Configuring the system for attached controllers" below.
+2. Set the "EPICS_CA_ADDR_LIST" environment variable to include the IP address of the server.
+If it's running on the same computer, you can use the loopback IP address.  
+`export EPICS_CA_ADDR_LIST='127.0.0.1'`  
+3. In the ``iocs/dsmIOC/iocBoot/iocDsm`` directory, run  
+```
+$ ../../bin/linux-x86_64/dsm st.cmd.md90
+```
 
 for one attached MD-90 controller, or
+```
+$ ../../bin/linux-x86_64/dsm st.cmd.md90.multi
+```
+for eight attached MD-90 controllers. Edit this file to use more than one unit; simply comment out the ones you don't need.  
 
-    $ ../../bin/linux-x86_64/dsm st.cmd.md90.multi
+4. Test using the `caget` and `caput` arguments as described in the "Example usage" section below.
 
-for eight attached MD-90 controllers.  You may need to change the path(s) for the serial port(s) in ``st.cmd.md90`` or ``st.cmd.md90.multi`` if the MD-90 is not attached at ``/dev/ttyUSB0``.
+# Configuring the system for attached controllers
+-------------------------------------------------
+
+The following steps must be used in either st.cmd.md90 (for a single unit) or in st.cmd.md90.multiple (for multiple units).
+st.cmd.md90.multiple includes 8 motors predefined on /dev/ttyUSB0 through /dev/ttyUSB7. Comment out all motors you don't need.  
+
+**1. Define a new serial port named "serial0" and set the location of the physical port**  
+`drvAsynSerialPortConfigure([serial name], [device location], 0, 0, 0)`  
+*e.g., `drvAsynSerialPortConfigure("serial0", "/dev/ttyUSB0", 0, 0, 0)`*  
+
+**2. Configure the port**  
+- Baud = 115200
+- Bits = 8
+- Parity = none
+- Stop bits = 1
+- Input end of message: "\r"
+- Output end of message: "\r"
+- Trace IO mask: 2
+```
+asynSetOption([serial name], 0, "baud", "115200")
+asynSetOption([serial name], 0, "bits", "8")
+asynSetOption([serial name], 0, "parity", "none")
+asynSetOption([serial name], 0, "stop", "1")
+asynOctetSetInputEos("serial0", 0, "\r")
+asynOctetSetOutputEos("serial0", 0, "\r")
+asynSetTraceIOMask("serial0", 0, 2)
+```
+where `[serial name]` is the name you assigned in step 1, surrounded by double quotes.
+
+**3. Set initial parameters**  
+- Power supply enabled (`EPS` command)
+- Deadband = 10 nm (`SDB 10` command)  
+```
+asynOctetConnect("initConnection", [serial name], 0)
+asynOctetWrite("initConnection", "EPS")
+asynOctetWrite("initConnection", "SDB 10")
+asynOctetDisconnect('initConnection')
+```
+
+**4. Create MD90 Controller object**  
+`MD90CreateController([controller name], [serial name], 1, 100, 5000)`  
+where `[controller name]` is the name of the motor to assign. Convention is to use "MD90n", starting with n=0.
+
+**5. Intialize the IOC**  
+After the call to `iocInit` (still in the st.cmd.md90[.multiple] file), issue the following commands for each motor. The example below uses `DSM:m0` but it should be run for each line described in motor.substitutions.md90 (or motor.substitutions.md90.multiple).
+````
+dbpf("DSM:m0.RTRY", "0")	#sets retries to 0; this is automatic on the MD90
+dbpf("DSM:m0.TWV", "0.1")	#Tweak distance
+dbpf("DSM:m0.VMAX", "1.0")	#Sets max velocity to 1 mm/s
+dbpf("DSM:m0.HVEL", "1.0")	#Sets max velocity to 1 mm/s
+````
+
+**6. Update the substitutions file**  
+Save and close the st.cmd file you've been configuring, then open the motor substitutions file (motor.substitutions.md90[.multiple]).
+Ensure the values in the `pattern` block's `PORT` field match the names used in the std.cmd file.
+Note that, despite this field being called "Port", they use the names of the MD90 Controller object defined above (by default, MD900, MD901, etc.
+Do __not__ use the direct serial port names (by default, serial0, serial1, etc.).  
+
+
+# Compiling motorDSM
 
 ------------------------
 
@@ -110,3 +180,50 @@ In ``motorDSM/iocs/dsmIOC/configure``, copy ``EXAMPLE_RELEASE.local`` to ``RELEA
     $ cd $SUPPORT/motorDSM
     $ make distclean
     $ make
+
+------------------------
+# Example usage
+
+After building, run the example IOC described at the top of this section in one terminal window.
+Open another terminal window and navigate to [EPICS install directory]/epics-base/bin/linux-x86_64/ (or wherever you built EPICS base.  
+Use the commands `caput` and `caget` to set and read process variables.  
+
+For example, to get the current position, use `./caget DSM:m0.REP`. This reads the REP variable, which is the "Raw Encoder Position". Set m0 to m1, m2, etc. for multiple motors.
+
+Other examples
+-------------------------
+
+Homing the motor (must be done before you can issue position commands):  
+`./caput DSM:m0.HOMF 1			#Begins homing sequence in the forward direction`  
+`./caput DSM:m0.HOMR 1			#Begins homing sequence in the reverse direction`  
+
+Moving to a position target:  
+`./caput DSM:m0.VAL 2.345		#Moves to 2.345 mm`
+
+Setting a velocity target:  
+`./caput DSM:m0.VELO 0.5		#Sets velocity target to 0.5 mm/s`  
+(Note that velocity targets are appropriate only. They adjust the step rate of the motor and are not guaranteed to be exact.)
+
+A note aboue velocity targets
+-----------------------------
+The I-20 motor driven by the MD-90 is a closed loop "step and repeat" motor that takes full steps towards its position target until it is
+close, then will perform linear extensions to close the loop on the target position. This is handled internally on the MD-90, not by
+EPICS.
+
+The Velocity target parameter sets the step frequency
+at which the motor operates on its way to the target position. The speed is not closed loop, and will depend on external loads, environmental
+conditions, etc. A speed target of 1 mm/s will generate a roughly 1 mm/s motion, but it is not guaranteed.
+
+Additionally, due to the way EPICS operates, setting VELO will not immediately send a command to the MD90. Instead, EPICS remembers the last value you set, and will set this new
+velocity target when it sends the next move command. **However, the motor must not be in servo mode to accept a new velocity target.**
+
+The motor enters servo mode when you send a new position target, and stays in servo mode until you issue a Stop command 
+(by setting the `DSM:m0.STOP` parameter to 1).
+
+If you do not disable servo prior to issuing a Move command at the new velocity, then VELO will become out of sync with the actual motor
+velocity, and EPICS will return error 3 "Cannot execute while moving" in its console each time you issue a Move command.
+This is because each Move command internally sends a "Set step frequenc" command, which will error if you do not Stop the motor first.
+Reading the VELO parameter at this point will return the wrong value- it returns the value you requested, not the actual speed setting
+on the motor.
+To fix this, you must Stop the motor, then send a new Move command. At 
+

docs/RELEASE.md

@@ -1,4 +1,23 @@
-# motorDsm Releases
+# motorDSM Releases
+
+## __v0.9.0-alpha__
+
+### Changes since motorAcs R1-1-1
+
+#### New features
+* Global rename Acs -> DSM and MCB-4B -> MD-90
+* Updated motor controller and axis methods to work with the DSM MD-90 controller
+* Updated example IOC startup scripts for the MD-90
+
+#### Modifications to existing features
+* Removed Acs controller interface
+
+#### Bug fixes
+* None
+
+
+
+# motorAcs Releases
 
 ## __R1-1-1 (2023-04-11)__
 R1-1-1 is a release based on the master branch.  
@@ -27,22 +46,22 @@ R1-1 is a release based on the master branch.
 * None
 
 #### Modifications to existing features
-* Commit [1bd580a](https://github.com/epics-motor/motorDsm/commit/1bd580a87869fb140939978c0b06856917282da9): ``iocsh`` dir moved into ``dsmApp`` dir; ``DSM_MD90.iocsh`` is now installed at build time
+* Commit [1bd580a](https://github.com/epics-motor/motorAcs/commit/1bd580a87869fb140939978c0b06856917282da9): ``iocsh`` dir moved into ``acsApp`` dir; ``ACS_MCB4B.iocsh`` is now installed at build time 
 
 #### Bug fixes
-* Commit [5ab502c](https://github.com/epics-motor/motorDsm/commit/5ab502c53ac81885e2a511ade95f22d0a0db4f43): Include ``$(MOTOR)/modules/RELEASE.$(EPICS_HOST_ARCH).local`` instead of ``$(MOTOR)/configure/RELEASE``
+* Commit [5ab502c](https://github.com/epics-motor/motorAcs/commit/5ab502c53ac81885e2a511ade95f22d0a0db4f43): Include ``$(MOTOR)/modules/RELEASE.$(EPICS_HOST_ARCH).local`` instead of ``$(MOTOR)/configure/RELEASE``
-* Pull request [#1](https://github.com/epics-motor/motorDsm/pull/1): Eliminated compiler warnings
+* Pull request [#1](https://github.com/epics-motor/motorAcs/pull/1): Eliminated compiler warnings
 
 ## __R1-0 (2019-04-18)__
 R1-0 is a release based on the master branch.  
 
 ### Changes since motor-6-11
 
-motorDsm is now a standalone module, as well as a submodule of [motor](https://github.com/epics-modules/motor)
+motorAcs is now a standalone module, as well as a submodule of [motor](https://github.com/epics-modules/motor)
 
 #### New features
-* motorDsm can be built outside of the motor directory
+* motorAcs can be built outside of the motor directory
-* motorDsm has a dedicated example IOC that can be built outside of motorDsm
+* motorAcs has a dedicated example IOC that can be built outside of motorAcs
 
 #### Modifications to existing features
 * None

dsmApp/src/MD90Driver.cpp

@@ -185,7 +185,7 @@ asynStatus MD90Axis::sendAccelAndVelocity(double acceleration, double velocity)
   // Velocity provided in steps/sec
   // Our unit step size of the encoder is 10 nm, but the motor moves in steps approx. 5 micrometers.
   // Motor controller accepts step frequency in Hz.
-  freq = NINT(fabs(velocity / 500.));
+  freq = NINT(fabs(velocity / COUNTS_PER_STEP));
   sprintf(pC_->outString_, "SSF %d", freq);
   status = pC_->writeReadController();
   if (!status) {
@@ -446,7 +446,7 @@ asynStatus MD90Axis::poll(bool *moving)
   if (comStatus) goto skip;
   // The response string is of the form "0: Current step frequency: 100"
   sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
-  velocity = replyValue * 500.0;
+  velocity = replyValue * COUNTS_PER_STEP;
   setDoubleParam(pC_->motorVelocity_, velocity);
 
   // Read the current motor integral gain (range 1-1000)

dsmApp/src/MD90Driver.h

@@ -2,9 +2,6 @@
 FILENAME...   MD90Driver.h
 USAGE...      Motor driver support for the DSM MD-90 controller.
 
-Mark Rivers
-March 1, 2012
-
 */
 
 #include "asynMotorController.h"
@@ -15,6 +12,8 @@ March 1, 2012
 // No controller-specific parameters yet
 #define NUM_MD90_PARAMS 0  
 
+#define COUNTS_PER_STEP		1000.0				//Number of encoder counts per motor step (measured by testing)
+
 class epicsShareClass MD90Axis : public asynMotorAxis
 {
 public: