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Fix #1935 - corrections of discrepancies / inconsistencies in motors #1936

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Fix #1935 - corrections of discrepancies / inconsistencies in motors #1936

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f5a1afe
Fix #1935 - corrections of discrepancies / inconsistencies in motors
CoePaul Feb 23, 2026
0887852
Fix #1935 - further corrections as requested in code review
CoePaul Feb 23, 2026
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19 changes: 11 additions & 8 deletions src/dodal/devices/motors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,9 @@

from dodal.common.maths import rotate_clockwise, rotate_counter_clockwise

_X, _Y, _Z = "X", "Y", "Z"
_X = "X"
_Y = "Y"
_Z = "Z"

_OMEGA = "OMEGA"
_POLAR = "POLAR"
Expand All @@ -17,9 +19,10 @@

class Stage(StandardReadable, ABC):
"""For these devices, the following co-ordinates are typical but not enforced:
- z is horizontal & parallel to the direction of beam travel
- z is horizontal & parallel to the direction of synchrotron electrons.
( Usually the x-rays have the same direction: But z is defined by the electrons )
- y is vertical and antiparallel to the force of gravity
- x is the cross product of y🞬z
- x is the cross product of y with z

Attributes:
prefix (str): Common part of the EPICS PV for all motors, including ":".
Expand All @@ -33,7 +36,7 @@ class Stage(StandardReadable, ABC):


class XThetaStage(Stage):
"""Two-axis stage with an x and a theta motor."""
"""Two-axis stage with an x motor and a theta motor."""

def __init__(
self, prefix: str, name: str = "", x_infix: str = _X, theta_infix: str = "A"
Expand All @@ -45,7 +48,7 @@ def __init__(


class XYStage(Stage):
"""A standard two-axis stage with an x and a y motor."""
"""A standard two-axis stage with an x motor and a y motor."""

def __init__(
self, prefix: str, name: str = "", x_infix: str = _X, y_infix: str = _Y
Expand All @@ -57,7 +60,7 @@ def __init__(


class XYZStage(XYStage):
"""A standard three-axis stage with an x, a y, and a z motor."""
"""A standard three-axis stage with an x motor, a y motor and a z motor."""

def __init__(
self,
Expand Down Expand Up @@ -236,7 +239,7 @@ def __init__(


class XYZPitchYawRollStage(XYZStage):
"""Five-axis stage with a standard xyz stage and three axes of rotation: pitch, yaw,
"""Six-axis stage with a standard xyz stage and three axes of rotation: pitch, yaw,
and roll.
"""

Expand Down Expand Up @@ -306,7 +309,7 @@ def __init__(


class YZStage(Stage):
"""Two-axis stage with an x and a z motor."""
"""Two-axis stage with a y motor and a z motor."""

def __init__(
self, prefix: str, name: str = "", y_infix: str = _Y, z_infix: str = _Z
Expand Down