dls-dodal 1.49.0__py3-none-any.whl → 1.51.0__py3-none-any.whl

dodal/beamlines/i03.py

@@ -28,7 +28,7 @@ from dodal.devices.focusing_mirror import FocusingMirrorWithStripes, MirrorVolta
 from dodal.devices.i03 import Beamstop
 from dodal.devices.i03.dcm import DCM
 from dodal.devices.i03.undulator_dcm import UndulatorDCM
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.devices.oav.oav_detector import OAVBeamCentreFile
 from dodal.devices.oav.oav_parameters import OAVConfigBeamCentre
 from dodal.devices.oav.pin_image_recognition import PinTipDetection
@@ -368,10 +368,7 @@ def zocalo() -> ZocaloResults:
     """Get the i03 ZocaloResults device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i03, it will return the existing object.
     """
-    return ZocaloResults(
-        name="zocalo",
-        prefix=PREFIX.beamline_prefix,
-    )
+    return ZocaloResults(name="zocalo", prefix=PREFIX.beamline_prefix, use_gpu=True)
 
 
 @device_factory()
@@ -409,11 +406,11 @@ def thawer() -> Thawer:
 
 
 @device_factory()
-def lower_gonio() -> XYZPositioner:
+def lower_gonio() -> XYZStage:
     """Get the i03 lower gonio device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i03, it will return the existing object.
     """
-    return XYZPositioner(
+    return XYZStage(
         f"{PREFIX.beamline_prefix}-MO-GONP-01:",
         "lower_gonio",
     )
@@ -451,11 +448,9 @@ def qbpm() -> QBPM:
     )
 
 
-@device_factory(
-    skip=True
-)  # Skipping as not yet on the beamline, see https://jira.diamond.ac.uk/browse/I03-894
+@device_factory()
 def baton() -> Baton:
     """Get the i03 baton device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i03, it will return the existing object.
     """
-    return Baton(f"{PREFIX.beamline_prefix}:")
+    return Baton(f"{PREFIX.beamline_prefix}-CS-BATON-01:")

dodal/beamlines/i04.py

@@ -22,7 +22,7 @@ from dodal.devices.i04.constants import RedisConstants
 from dodal.devices.i04.murko_results import MurkoResultsDevice
 from dodal.devices.i04.transfocator import Transfocator
 from dodal.devices.ipin import IPin
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.devices.mx_phase1.beamstop import Beamstop
 from dodal.devices.oav.oav_detector import OAVBeamCentrePV
 from dodal.devices.oav.oav_parameters import OAVConfig
@@ -77,22 +77,22 @@ def smargon() -> Smargon:
 
 
 @device_factory()
-def gonio_positioner() -> XYZPositioner:
+def gonio_positioner() -> XYZStage:
     """Get the i04 lower_gonio_stages device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i04, it will return the existing object.
     """
-    return XYZPositioner(
+    return XYZStage(
         f"{PREFIX.beamline_prefix}-MO-GONIO-01:",
         "lower_gonio_stages",
     )
 
 
 @device_factory()
-def sample_delivery_system() -> XYZPositioner:
+def sample_delivery_system() -> XYZStage:
     """Get the i04 sample_delivery_system device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i04, it will return the existing object.
     """
-    return XYZPositioner(
+    return XYZStage(
         f"{PREFIX.beamline_prefix}-MO-SDE-01:",
         "sample_delivery_system",
     )

dodal/beamlines/i09.py

@@ -3,6 +3,8 @@ from dodal.common.beamlines.beamline_utils import (
 )
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.devices.electron_analyser.vgscienta import VGScientaAnalyserDriverIO
+from dodal.devices.i09 import DCM, I09Grating
+from dodal.devices.pgm import PGM
 from dodal.devices.synchrotron import Synchrotron
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
@@ -18,6 +20,25 @@ def synchrotron() -> Synchrotron:
     return Synchrotron()
 
 
+@device_factory()
+def pgm() -> PGM:
+    return PGM(
+        prefix=f"{BeamlinePrefix(BL, suffix='J').beamline_prefix}-MO-PGM-01:",
+        grating=I09Grating,
+    )
+
+
+@device_factory()
+def dcm() -> DCM:
+    return DCM(prefix=f"{PREFIX.beamline_prefix}-MO-DCM-01:")
+
+
 @device_factory()
 def analyser_driver() -> VGScientaAnalyserDriverIO:
-    return VGScientaAnalyserDriverIO(prefix=f"{PREFIX.beamline_prefix}-EA-DET-01:CAM:")
+    energy_sources = {
+        "source1": pgm().energy.user_readback,
+        "source2": dcm().energy_in_ev,
+    }
+    return VGScientaAnalyserDriverIO(
+        f"{PREFIX.beamline_prefix}-EA-DET-01:CAM:", energy_sources
+    )

dodal/beamlines/i09_1.py

@@ -3,6 +3,7 @@ from dodal.common.beamlines.beamline_utils import (
 )
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.devices.electron_analyser.specs import SpecsAnalyserDriverIO
+from dodal.devices.i09.dcm import DCM
 from dodal.devices.synchrotron import Synchrotron
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
@@ -18,6 +19,13 @@ def synchrotron() -> Synchrotron:
     return Synchrotron()
 
 
+@device_factory()
+def dcm() -> DCM:
+    return DCM(prefix=f"{PREFIX.beamline_prefix}-MO-DCM-01:")
+
+
 @device_factory()
 def analyser_driver() -> SpecsAnalyserDriverIO:
-    return SpecsAnalyserDriverIO(prefix=f"{PREFIX.beamline_prefix}-EA-DET-02:CAM:")
+    return SpecsAnalyserDriverIO(
+        f"{PREFIX.beamline_prefix}-EA-DET-02:CAM:", {"source1": dcm().energy_in_ev}
+    )

dodal/beamlines/i09_2.py

@@ -0,0 +1,24 @@
+from dodal.common.beamlines.beamline_utils import (
+    device_factory,
+)
+from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
+from dodal.devices.i09.grating import I09Grating
+from dodal.devices.pgm import PGM
+from dodal.devices.synchrotron import Synchrotron
+from dodal.log import set_beamline as set_log_beamline
+from dodal.utils import BeamlinePrefix, get_beamline_name
+
+BL = get_beamline_name("i09-2")
+PREFIX = BeamlinePrefix(BL, suffix="J")
+set_log_beamline(BL)
+set_utils_beamline(BL)
+
+
+@device_factory()
+def synchrotron() -> Synchrotron:
+    return Synchrotron()
+
+
+@device_factory()
+def pgm() -> PGM:
+    return PGM(prefix=f"{PREFIX.beamline_prefix}-MO-PGM-01:", grating=I09Grating)

dodal/beamlines/i10.py

@@ -20,11 +20,10 @@ from dodal.devices.i10.rasor.rasor_motors import (
     DetSlits,
     Diffractometer,
     PaStage,
-    PinHole,
 )
 from dodal.devices.i10.rasor.rasor_scaler_cards import RasorScalerCard1
 from dodal.devices.i10.slits import I10Slits, I10SlitsDrainCurrent
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYStage, XYZStage
 from dodal.devices.pgm import PGM
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
@@ -130,8 +129,8 @@ def d5a_det() -> I10Diagnostic5ADet:
 
 
 @device_factory()
-def pin_hole() -> PinHole:
-    return PinHole(prefix="ME01D-EA-PINH-01:")
+def pin_hole() -> XYStage:
+    return XYStage(prefix="ME01D-EA-PINH-01:")
 
 
 @device_factory()
@@ -150,8 +149,8 @@ def pa_stage() -> PaStage:
 
 
 @device_factory()
-def sample_stage() -> XYZPositioner:
-    return XYZPositioner(prefix="ME01D-MO-CRYO-01:")
+def sample_stage() -> XYZStage:
+    return XYZStage(prefix="ME01D-MO-CRYO-01:")
 
 
 @device_factory()

dodal/beamlines/i13_1.py

@@ -10,7 +10,7 @@ from dodal.common.beamlines.beamline_utils import (
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.common.visit import LocalDirectoryServiceClient, StaticVisitPathProvider
 from dodal.devices.i13_1.merlin import Merlin
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -29,13 +29,13 @@ set_path_provider(
 
 
 @device_factory()
-def sample_xyz_stage() -> XYZPositioner:
-    return XYZPositioner(prefix=f"{PREFIX}-MO-PI-02:")
+def sample_xyz_stage() -> XYZStage:
+    return XYZStage(prefix=f"{PREFIX}-MO-PI-02:")
 
 
 @device_factory()
-def sample_xyz_lab_fa_stage() -> XYZPositioner:
-    return XYZPositioner(prefix=f"{PREFIX}-MO-PI-02:FIXANG:")
+def sample_xyz_lab_fa_stage() -> XYZStage:
+    return XYZStage(prefix=f"{PREFIX}-MO-PI-02:FIXANG:")
 
 
 @device_factory()

dodal/beamlines/i18.py

@@ -15,8 +15,7 @@ from dodal.common.visit import (
 from dodal.devices.common_dcm import BaseDCM, PitchAndRollCrystal, RollCrystal
 from dodal.devices.i18.diode import Diode
 from dodal.devices.i18.KBMirror import KBMirror
-from dodal.devices.i18.table import Table
-from dodal.devices.i18.thor_labs_stage import ThorLabsStage
+from dodal.devices.motors import XYStage, XYZThetaStage
 from dodal.devices.slits import Slits
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.tetramm import TetrammDetector
@@ -118,10 +117,10 @@ def d7_diode() -> Diode:
 
 
 @device_factory()
-def main_table() -> Table:
-    return Table(f"{PREFIX.beamline_prefix}-MO-TABLE-01:")
+def main_table() -> XYZThetaStage:
+    return XYZThetaStage(f"{PREFIX.beamline_prefix}-MO-TABLE-01:")
 
 
 @device_factory()
-def thor_labs_stage() -> ThorLabsStage:
-    return ThorLabsStage(f"{PREFIX.beamline_prefix}-MO-TABLE-02:")
+def thor_labs_stage() -> XYStage:
+    return XYStage(f"{PREFIX.beamline_prefix}-MO-TABLE-02:")

dodal/beamlines/i22.py

@@ -22,6 +22,7 @@ from dodal.devices.i22.dcm import DCM
 from dodal.devices.i22.fswitch import FSwitch
 from dodal.devices.i22.nxsas import NXSasMetadataHolder, NXSasOAV, NXSasPilatus
 from dodal.devices.linkam3 import Linkam3
+from dodal.devices.motors import XYPitchStage
 from dodal.devices.slits import Slits
 from dodal.devices.synchrotron import Synchrotron
 from dodal.devices.tetramm import TetrammDetector
@@ -136,7 +137,7 @@ def bimorph_hfm() -> BimorphMirror:
 @device_factory()
 def bimorph_vfm() -> BimorphMirror:
     return BimorphMirror(
-        prefix=f"{PREFIX.beamline_prefix}-OP-KBM-01:G1:", number_of_channels=16
+        prefix=f"{PREFIX.beamline_prefix}-OP-KBM-01:G1:", number_of_channels=32
     )
 
 
@@ -264,3 +265,8 @@ def linkam() -> Linkam3:
 def ppump() -> WatsonMarlow323Pump:
     """Sample Environment Peristaltic Pump"""
     return WatsonMarlow323Pump(f"{PREFIX.beamline_prefix}-EA-PUMP-01:")
+
+
+@device_factory()
+def base_top() -> XYPitchStage:
+    return XYPitchStage(f"{PREFIX.beamline_prefix}-MO-STABL-01:")

dodal/beamlines/i24.py

@@ -11,10 +11,10 @@ from dodal.devices.i24.beamstop import Beamstop
 from dodal.devices.i24.dcm import DCM
 from dodal.devices.i24.dual_backlight import DualBacklight
 from dodal.devices.i24.focus_mirrors import FocusMirrorsMode
-from dodal.devices.i24.i24_detector_motion import DetectorMotion
 from dodal.devices.i24.pilatus_metadata import PilatusMetadata
 from dodal.devices.i24.pmac import PMAC
 from dodal.devices.i24.vgonio import VerticalGoniometer
+from dodal.devices.motors import YZStage
 from dodal.devices.oav.oav_detector import OAVBeamCentreFile
 from dodal.devices.oav.oav_parameters import OAVConfigBeamCentre
 from dodal.devices.zebra.zebra import Zebra
@@ -89,11 +89,11 @@ def backlight() -> DualBacklight:
 
 
 @device_factory()
-def detector_motion() -> DetectorMotion:
+def detector_motion() -> YZStage:
     """Get the i24 detector motion device, instantiate it if it hasn't already been.
     If this is called when already instantiated in i24, it will return the existing object.
     """
-    return DetectorMotion(
+    return YZStage(
         name="detector_motion",
         prefix=f"{PREFIX.beamline_prefix}-EA-DET-01:",
     )

dodal/beamlines/p45.py

@@ -11,7 +11,8 @@ from dodal.common.beamlines.beamline_utils import (
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.common.beamlines.device_helpers import DET_SUFFIX, HDF5_SUFFIX
 from dodal.common.visit import StaticVisitPathProvider
-from dodal.devices.p45 import Choppers, TomoStageWithStretchAndSkew
+from dodal.devices.motors import XYStage
+from dodal.devices.p45 import TomoStageWithStretchAndSkew
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -34,8 +35,8 @@ def sample() -> TomoStageWithStretchAndSkew:
 
 
 @device_factory()
-def choppers() -> Choppers:
-    return Choppers(f"{PREFIX.beamline_prefix}-MO-CHOP-01:")
+def choppers() -> XYStage:
+    return XYStage(f"{PREFIX.beamline_prefix}-MO-CHOP-01:")
 
 
 # Disconnected

dodal/beamlines/p60.py

@@ -3,6 +3,7 @@ from dodal.common.beamlines.beamline_utils import (
 )
 from dodal.common.beamlines.beamline_utils import set_beamline as set_utils_beamline
 from dodal.devices.electron_analyser.vgscienta import VGScientaAnalyserDriverIO
+from dodal.devices.p60 import LabXraySource, LabXraySourceReadable
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -12,6 +13,22 @@ set_log_beamline(BL)
 set_utils_beamline(BL)
 
 
+@device_factory()
+def al_kalpha_source() -> LabXraySourceReadable:
+    return LabXraySourceReadable(LabXraySource.AL_KALPHA)
+
+
+@device_factory()
+def mg_kalpha_source() -> LabXraySourceReadable:
+    return LabXraySourceReadable(LabXraySource.MG_KALPHA)
+
+
 @device_factory()
 def analyser_driver() -> VGScientaAnalyserDriverIO:
-    return VGScientaAnalyserDriverIO(prefix=f"{PREFIX.beamline_prefix}-EA-DET-01:CAM:")
+    energy_sources = {
+        "source1": al_kalpha_source().energy_ev,
+        "source2": mg_kalpha_source().energy_ev,
+    }
+    return VGScientaAnalyserDriverIO(
+        f"{PREFIX.beamline_prefix}-EA-DET-01:CAM:", energy_sources
+    )

dodal/beamlines/p99.py

@@ -15,7 +15,7 @@ from dodal.common.visit import (
 )
 from dodal.devices.attenuator.filter import FilterMotor
 from dodal.devices.attenuator.filter_selections import P99FilterSelections
-from dodal.devices.motors import XYZPositioner
+from dodal.devices.motors import XYZStage
 from dodal.devices.p99.andor2_point import Andor2Point
 from dodal.devices.p99.sample_stage import SampleAngleStage
 from dodal.log import set_beamline as set_log_beamline
@@ -38,13 +38,13 @@ def filter() -> FilterMotor:
 
 
 @device_factory()
-def sample_stage() -> XYZPositioner:
-    return XYZPositioner(f"{PREFIX.beamline_prefix}-MO-STAGE-02:")
+def sample_stage() -> XYZStage:
+    return XYZStage(f"{PREFIX.beamline_prefix}-MO-STAGE-02:")
 
 
 @device_factory()
-def lab_stage() -> XYZPositioner:
-    return XYZPositioner(f"{PREFIX.beamline_prefix}-MO-STAGE-02:LAB:")
+def lab_stage() -> XYZStage:
+    return XYZStage(f"{PREFIX.beamline_prefix}-MO-STAGE-02:LAB:")
 
 
 set_path_provider(

dodal/beamlines/training_rig.py

@@ -14,7 +14,7 @@ from dodal.common.visit import (
     LocalDirectoryServiceClient,
     StaticVisitPathProvider,
 )
-from dodal.devices.training_rig.sample_stage import TrainingRigSampleStage
+from dodal.devices.motors import XThetaStage
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -45,8 +45,8 @@ set_path_provider(
 
 
 @device_factory()
-def sample_stage() -> TrainingRigSampleStage:
-    return TrainingRigSampleStage(f"{PREFIX.beamline_prefix}-MO-MAP-01:STAGE:")
+def sample_stage() -> XThetaStage:
+    return XThetaStage(f"{PREFIX.beamline_prefix}-MO-MAP-01:STAGE:")
 
 
 @device_factory()

dodal/common/beamlines/beamline_utils.py

@@ -33,12 +33,15 @@ def set_beamline(beamline: str):
 
 def clear_devices():
     global ACTIVE_DEVICES
-    for d in list(ACTIVE_DEVICES):
-        del ACTIVE_DEVICES[d]
+    for name in list(ACTIVE_DEVICES):
+        clear_device(name)
 
 
 def clear_device(name: str):
     global ACTIVE_DEVICES
+    device = ACTIVE_DEVICES[name]
+    if isinstance(device, OphydV1Device):
+        device.destroy()
     del ACTIVE_DEVICES[name]
 
 

dodal/devices/aithre_lasershaping/goniometer.py

@@ -1,11 +1,13 @@
 import asyncio
 import math
 
-from ophyd_async.core import StandardReadable, derived_signal_rw
+from ophyd_async.core import derived_signal_rw
 from ophyd_async.epics.motor import Motor
 
+from dodal.devices.motors import XYZStage
 
-class Goniometer(StandardReadable):
+
+class Goniometer(XYZStage):
     """The Aithre lab goniometer and the XYZ stage it sits on.
 
     `x`, `y` and `z` control the axes of the positioner at the base, while `sampy` and
@@ -18,9 +20,6 @@ class Goniometer(StandardReadable):
     """
 
     def __init__(self, prefix: str, name: str = "") -> None:
-        self.x = Motor(prefix + "X")
-        self.y = Motor(prefix + "Y")
-        self.z = Motor(prefix + "Z")
         self.sampy = Motor(prefix + "SAMPY")
         self.sampz = Motor(prefix + "SAMPZ")
         self.omega = Motor(prefix + "OMEGA")

dodal/devices/aperture.py

@@ -1,14 +1,11 @@
-from ophyd_async.core import StandardReadable
 from ophyd_async.epics.core import epics_signal_r
-from ophyd_async.epics.motor import Motor
 
+from dodal.devices.motors import XYZStage
 
-class Aperture(StandardReadable):
+
+class Aperture(XYZStage):
     def __init__(self, prefix: str, name: str = "") -> None:
-        self.x = Motor(prefix + "X")
-        self.y = Motor(prefix + "Y")
-        self.z = Motor(prefix + "Z")
         self.small = epics_signal_r(float, prefix + "Y:SMALL_CALC")
         self.medium = epics_signal_r(float, prefix + "Y:MEDIUM_CALC")
         self.large = epics_signal_r(float, prefix + "Y:LARGE_CALC")
-        super().__init__(name)
+        super().__init__(prefix, name)

dodal/devices/aperturescatterguard.py

@@ -15,7 +15,7 @@ from pydantic import BaseModel, Field
 
 from dodal.common.beamlines.beamline_parameters import GDABeamlineParameters
 from dodal.devices.aperture import Aperture
-from dodal.devices.scatterguard import Scatterguard
+from dodal.devices.motors import XYStage
 
 
 class InvalidApertureMove(Exception):
@@ -164,7 +164,7 @@ class ApertureScatterguard(StandardReadable, Preparable):
         name: str = "",
     ) -> None:
         self.aperture = Aperture(prefix + "-MO-MAPT-01:")
-        self.scatterguard = Scatterguard(prefix + "-MO-SCAT-01:")
+        self.scatterguard = XYStage(prefix + "-MO-SCAT-01:")
         self._loaded_positions = loaded_positions
         self._tolerances = tolerances
         with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):

dodal/devices/b07/__init__.py

@@ -0,0 +1,3 @@
+from dodal.devices.b07.grating import B07BGrating
+
+__all__ = ["B07BGrating"]

dodal/devices/b07/grating.py

@@ -0,0 +1,9 @@
+from ophyd_async.core import StrictEnum
+
+
+class B07BGrating(StrictEnum):
+    NI_400 = "400 l/mm Ni"
+    NI_1000 = "1000 l/mm Ni"
+    PT_600 = "BAD 600 l/mm Pt"
+    AU_600 = "600 l/mm Au"
+    NO_GRATING = "No Grating"

dodal/devices/b07_1/__init__.py

@@ -0,0 +1,3 @@
+from dodal.devices.b07_1.grating import B07CGrating
+
+__all__ = ["B07CGrating"]

dodal/devices/b07_1/grating.py

@@ -0,0 +1,10 @@
+from ophyd_async.core import StrictEnum
+
+
+class B07CGrating(StrictEnum):
+    AU_400 = "400 l/mm Au"
+    AU_600 = "600 l/mm Au"
+    PT_600 = "600 l/mm Pt"
+    AU_1200 = "1200 l/mm Au"
+    ML_1200 = "1200 l/mm ML"
+    NO_GRATING = "No Grating"

dodal/devices/detector/detector_motion.py

@@ -1,42 +1,44 @@
-from ophyd_async.core import Device, StrictEnum
+from ophyd_async.core import StrictEnum
 from ophyd_async.epics.core import epics_signal_r, epics_signal_rw
 from ophyd_async.epics.motor import Motor
 
+from dodal.devices.motors import XYZStage
+
 
 class ShutterState(StrictEnum):
     CLOSED = "Closed"
     OPEN = "Open"
 
 
-class DetectorMotion(Device):
+class DetectorMotion(XYZStage):
+    _device_prefix = "-MO-DET-01:"
+    _pmac_prefix = "-MO-PMAC-02:"
+
     def __init__(self, prefix: str, name: str = ""):
-        device_prefix = "-MO-DET-01:"
-        pmac_prefix = "-MO-PMAC-02:"
+        device_prefix = f"{prefix}{self._device_prefix}"
+        pmac_prefix = f"{prefix}{self._pmac_prefix}"
 
-        self.upstream_x = Motor(f"{prefix}{device_prefix}UPSTREAMX")
-        self.downstream_x = Motor(f"{prefix}{device_prefix}DOWNSTREAMX")
-        self.x = Motor(f"{prefix}{device_prefix}X")
-        self.y = Motor(f"{prefix}{device_prefix}Y")
-        self.z = Motor(f"{prefix}{device_prefix}Z")
-        self.yaw = Motor(f"{prefix}{device_prefix}YAW")
+        self.upstream_x = Motor(f"{device_prefix}UPSTREAMX")
+        self.downstream_x = Motor(f"{device_prefix}DOWNSTREAMX")
+        self.yaw = Motor(f"{device_prefix}YAW")
 
         self.shutter = epics_signal_rw(
-            ShutterState, f"{prefix}{device_prefix}SET_SHUTTER_STATE"
+            ShutterState, f"{device_prefix}SET_SHUTTER_STATE"
         )
         self.shutter_closed_lim = epics_signal_r(
-            float, f"{prefix}{device_prefix}CLOSE_LIMIT"
+            float, f"{device_prefix}CLOSE_LIMIT"
         )  # on limit = 1, off = 0
         self.shutter_open_lim = epics_signal_r(
-            float, f"{prefix}{device_prefix}OPEN_LIMIT"
+            float, f"{device_prefix}OPEN_LIMIT"
         )  # on limit = 1, off = 0
         self.z_disabled = epics_signal_r(
-            float, f"{prefix}{device_prefix}Z:DISABLED"
+            float, f"{device_prefix}Z:DISABLED"
         )  # robot interlock, 0=ok to move, 1=blocked
         self.crate_power = epics_signal_r(
-            float, f"{prefix}{pmac_prefix}CRATE2_HEALTHY"
+            float, f"{pmac_prefix}CRATE2_HEALTHY"
         )  # returns 0 if no power
         self.in_robot_load_safe_position = epics_signal_r(
-            int, f"{prefix}{pmac_prefix}GPIO_INP_BITS.B2"
+            int, f"{pmac_prefix}GPIO_INP_BITS.B2"
         )  # returns 1 if safe
 
-        super().__init__(name)
+        super().__init__(device_prefix, name)