dls-dodal 1.54.0__py3-none-any.whl → 1.55.1__py3-none-any.whl

dodal/beamlines/i04.py

@@ -43,6 +43,7 @@ from dodal.devices.zebra.zebra_constants_mapping import (
 )
 from dodal.devices.zebra.zebra_controlled_shutter import ZebraShutter
 from dodal.devices.zocalo import ZocaloResults
+from dodal.devices.zocalo.zocalo_results import ZocaloSource
 from dodal.log import set_beamline as set_log_beamline
 from dodal.utils import BeamlinePrefix, get_beamline_name
 
@@ -71,7 +72,6 @@ def smargon() -> Smargon:
     """
     return Smargon(
         f"{PREFIX.beamline_prefix}-MO-SGON-01:",
-        "smargon",
     )
 
 
@@ -93,7 +93,6 @@ def sample_delivery_system() -> XYZStage:
     """
     return XYZStage(
         f"{PREFIX.beamline_prefix}-MO-SDE-01:",
-        "sample_delivery_system",
     )
 
 
@@ -104,7 +103,6 @@ def ipin() -> IPin:
     """
     return IPin(
         f"{PREFIX.beamline_prefix}-EA-PIN-01:",
-        "ipin",
     )
 
 
@@ -126,7 +124,6 @@ def sample_shutter() -> ZebraShutter:
     """
     return ZebraShutter(
         f"{PREFIX.beamline_prefix}-EA-SHTR-01:",
-        "sample_shutter",
     )
 
 
@@ -148,7 +145,6 @@ def transfocator() -> Transfocator:
     """
     return Transfocator(
         f"{PREFIX.beamline_prefix}-MO-FSWT-01:",
-        "transfocator",
     )
 
 
@@ -159,22 +155,15 @@ def xbpm_feedback() -> XBPMFeedback:
     """
     return XBPMFeedback(
         PREFIX.beamline_prefix,
-        "xbpm_feedback",
     )
 
 
 @device_factory()
-def flux(mock: bool = False) -> Flux:
+def flux() -> Flux:
     """Get the i04 flux 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 device_instantiation(
-        Flux,
-        "flux",
-        "-MO-FLUX-01:",
-        wait=False,
-        fake=mock,
-    )
+    return Flux(f"{PREFIX.beamline_prefix}-MO-FLUX-01:")
 
 
 @device_factory()
@@ -184,7 +173,6 @@ def dcm() -> DCM:
     """
     return DCM(
         f"{PREFIX.beamline_prefix}-MO-DCM-01:",
-        "dcm",
     )
 
 
@@ -195,7 +183,6 @@ def backlight() -> Backlight:
     """
     return Backlight(
         PREFIX.beamline_prefix,
-        "backlight",
     )
 
 
@@ -208,7 +195,6 @@ def aperture_scatterguard() -> ApertureScatterguard:
     params = get_beamline_parameters()
     return ApertureScatterguard(
         prefix=PREFIX.beamline_prefix,
-        name="aperture_scatterguard",
         loaded_positions=load_positions_from_beamline_parameters(params),
         tolerances=AperturePosition.tolerances_from_gda_params(params),
     )
@@ -241,23 +227,16 @@ def zebra_fast_grid_scan() -> ZebraFastGridScan:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return ZebraFastGridScan(
-        name="zebra_fast_grid_scan",
         prefix=f"{PREFIX.beamline_prefix}-MO-SGON-01:",
     )
 
 
 @device_factory()
-def s4_slit_gaps(mock: bool = False) -> S4SlitGaps:
+def s4_slit_gaps() -> S4SlitGaps:
     """Get the i04 s4_slit_gaps 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 device_instantiation(
-        S4SlitGaps,
-        "s4_slit_gaps",
-        "-AL-SLITS-04:",
-        wait=False,
-        fake=mock,
-    )
+    return S4SlitGaps(f"{PREFIX.beamline_prefix}-AL-SLITS-04:")
 
 
 @device_factory()
@@ -266,7 +245,6 @@ def undulator() -> Undulator:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return Undulator(
-        name="undulator",
         prefix=f"{PREFIX.insertion_prefix}-MO-SERVC-01:",
         id_gap_lookup_table_path="/dls_sw/i04/software/gda/config/lookupTables/BeamLine_Undulator_toGap.txt",
     )
@@ -277,10 +255,7 @@ def synchrotron() -> Synchrotron:
     """Get the i04 synchrotron 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 Synchrotron(
-        "",
-        "synchrotron",
-    )
+    return Synchrotron()
 
 
 @device_factory()
@@ -289,7 +264,6 @@ def zebra() -> Zebra:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return Zebra(
-        name="zebra",
         prefix=f"{PREFIX.beamline_prefix}-EA-ZEBRA-01:",
         mapping=I04_ZEBRA_MAPPING,
     )
@@ -330,7 +304,6 @@ def detector_motion() -> DetectorMotion:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return DetectorMotion(
-        name="detector_motion",
         prefix=PREFIX.beamline_prefix,
     )
 
@@ -342,7 +315,6 @@ def thawer() -> Thawer:
     """
     return Thawer(
         f"{PREFIX.beamline_prefix}-EA-THAW-01",
-        "thawer",
     )
 
 
@@ -352,7 +324,6 @@ def robot() -> BartRobot:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return BartRobot(
-        "robot",
         f"{PREFIX.beamline_prefix}-MO-ROBOT-01:",
     )
 
@@ -364,7 +335,6 @@ def oav_to_redis_forwarder() -> OAVToRedisForwarder:
     """
     return OAVToRedisForwarder(
         f"{PREFIX.beamline_prefix}-DI-OAV-01:",
-        name="oav_to_redis_forwarder",
         redis_host=RedisConstants.REDIS_HOST,
         redis_password=RedisConstants.REDIS_PASSWORD,
         redis_db=RedisConstants.MURKO_REDIS_DB,
@@ -377,7 +347,6 @@ def murko_results() -> MurkoResultsDevice:
     If this is called when already instantiated in i04, it will return the existing object.
     """
     return MurkoResultsDevice(
-        name="murko_results",
         redis_host=RedisConstants.REDIS_HOST,
         redis_password=RedisConstants.REDIS_PASSWORD,
         redis_db=RedisConstants.MURKO_REDIS_DB,
@@ -399,7 +368,7 @@ def zocalo() -> ZocaloResults:
     """Get the i04 ZocaloResults 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 ZocaloResults(channel="xrc.i04")
+    return ZocaloResults(channel="xrc.i04", results_source=ZocaloSource.CPU)
 
 
 @device_factory()

dodal/beamlines/i05.py

@@ -1,6 +1,6 @@
+from dodal.beamline_specific_utils.i05_shared import pgm as i05_pgm
 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.i05 import Grating
 from dodal.devices.pgm import PGM
 from dodal.devices.synchrotron import Synchrotron
 from dodal.log import set_beamline as set_log_beamline
@@ -19,4 +19,4 @@ def synchrotron() -> Synchrotron:
 
 @device_factory()
 def pgm() -> PGM:
-    return PGM(prefix=f"{PREFIX.beamline_prefix}-OP-PGM-01:", grating=Grating)
+    return i05_pgm()

dodal/beamlines/i05_1.py

@@ -1,7 +1,7 @@
-from dodal.common.beamlines.beamline_utils import (
-    device_factory,
-)
+from dodal.beamline_specific_utils.i05_shared import pgm as i05_pgm
+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.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
@@ -12,6 +12,11 @@ set_log_beamline(BL)
 set_utils_beamline(BL)
 
 
+@device_factory()
+def pgm() -> PGM:
+    return i05_pgm()
+
+
 @device_factory()
 def synchrotron() -> Synchrotron:
     return Synchrotron()

dodal/beamlines/i13_1.py

@@ -52,7 +52,6 @@ def side_camera() -> AravisDetector:
 def merlin() -> Merlin:
     return Merlin(
         prefix=f"{PREFIX}-EA-DET-04:",
-        name="merlin",
         drv_suffix="CAM:",
         fileio_suffix="HDF5:",
         path_provider=get_path_provider(),

dodal/beamlines/i19_1.py

@@ -65,7 +65,6 @@ def zebra() -> Zebra:
     """
     return Zebra(
         mapping=I19_1_ZEBRA_MAPPING,
-        name="zebra",
         prefix=f"{PREFIX.beamline_prefix}-EA-ZEBRA-03:",
     )
 

dodal/beamlines/i19_2.py

@@ -47,7 +47,6 @@ def zebra() -> Zebra:
     """
     return Zebra(
         mapping=I19_2_ZEBRA_MAPPING,
-        name="zebra",
         prefix=f"{PREFIX.beamline_prefix}-EA-ZEBRA-01:",
     )
 

dodal/beamlines/i19_optics.py

@@ -20,10 +20,7 @@ def shutter() -> HutchShutter:
     """Get the i19 hutch shutter device, instantiate it if it hasn't already been.
     If this is called when already instantiated, it will return the existing object.
     """
-    return HutchShutter(
-        f"{PREFIX.beamline_prefix}-PS-SHTR-01:",
-        "shutter",
-    )
+    return HutchShutter(f"{PREFIX.beamline_prefix}-PS-SHTR-01:")
 
 
 @device_factory()

dodal/beamlines/i23.py

@@ -72,7 +72,7 @@ def oav_pin_tip_detection() -> PinTipDetection:
 @device_factory()
 def shutter() -> ZebraShutter:
     """Get the i23 zebra controlled shutter."""
-    return ZebraShutter(f"{PREFIX.beamline_prefix}-EA-SHTR-01:", "shutter")
+    return ZebraShutter(f"{PREFIX.beamline_prefix}-EA-SHTR-01:")
 
 
 @device_factory()
@@ -85,7 +85,6 @@ def gonio() -> SixAxisGonio:
 def zebra() -> Zebra:
     """Get the i23 zebra"""
     return Zebra(
-        name="zebra",
         prefix=f"{PREFIX.beamline_prefix}-EA-ZEBRA-01:ZEBRA:",
         mapping=I23_ZEBRA_MAPPING,
     )

dodal/beamlines/i24.py

@@ -51,7 +51,6 @@ def attenuator() -> ReadOnlyAttenuator:
     existing object."""
     return ReadOnlyAttenuator(
         f"{PREFIX.beamline_prefix}-OP-ATTN-01:",
-        "attenuator",
     )
 
 
@@ -62,7 +61,6 @@ def aperture() -> Aperture:
     """
     return Aperture(
         f"{PREFIX.beamline_prefix}-AL-APTR-01:",
-        "aperture",
     )
 
 
@@ -73,7 +71,6 @@ def beamstop() -> Beamstop:
     """
     return Beamstop(
         f"{PREFIX.beamline_prefix}-MO-BS-01:",
-        "beamstop",
     )
 
 
@@ -84,7 +81,6 @@ def backlight() -> DualBacklight:
     """
     return DualBacklight(
         prefix=PREFIX.beamline_prefix,
-        name="backlight",
     )
 
 
@@ -94,7 +90,6 @@ def detector_motion() -> YZStage:
     If this is called when already instantiated in i24, it will return the existing object.
     """
     return YZStage(
-        name="detector_motion",
         prefix=f"{PREFIX.beamline_prefix}-EA-DET-01:",
     )
 
@@ -105,7 +100,6 @@ def dcm() -> DCM:
     If this is called when already instantiated in i24, it will return the existing object.
     """
     return DCM(
-        name="dcm",
         prefix=PREFIX.beamline_prefix,
     )
 
@@ -145,7 +139,6 @@ def pmac() -> PMAC:
     # prefix not BL but ME14E
     return PMAC(
         "ME14E-MO-CHIP-01:",
-        "pmac",
     )
 
 
@@ -153,7 +146,6 @@ def pmac() -> PMAC:
 def oav() -> OAVBeamCentreFile:
     return OAVBeamCentreFile(
         prefix=f"{PREFIX.beamline_prefix}-DI-OAV-01:",
-        name="oav",
         config=OAVConfigBeamCentre(ZOOM_PARAMS_FILE, DISPLAY_CONFIG),
     )
 
@@ -165,7 +157,6 @@ def vgonio() -> VerticalGoniometer:
     """
     return VerticalGoniometer(
         f"{PREFIX.beamline_prefix}-MO-VGON-01:",
-        "vgonio",
     )
 
 
@@ -175,7 +166,6 @@ def zebra() -> Zebra:
     If this is called when already instantiated in i24, it will return the existing object.
     """
     return Zebra(
-        name="zebra",
         prefix=f"{PREFIX.beamline_prefix}-EA-ZEBRA-01:",
         mapping=I24_ZEBRA_MAPPING,
     )
@@ -188,7 +178,6 @@ def shutter() -> HutchShutter:
     """
     return HutchShutter(
         f"{PREFIX.beamline_prefix}-PS-SHTR-01:",
-        "shutter",
     )
 
 
@@ -197,7 +186,6 @@ def focus_mirrors() -> FocusMirrorsMode:
     """Get the i24 focus mirror devise to find the beam size."""
     return FocusMirrorsMode(
         f"{PREFIX.beamline_prefix}-OP-MFM-01:",
-        "focus_mirrors",
     )
 
 

dodal/common/beamlines/device_helpers.py

@@ -1,37 +1,4 @@
-from dodal.common.beamlines.beamline_utils import device_instantiation
-from dodal.devices.slits import Slits
-from dodal.utils import skip_device
-
 HDF5_SUFFIX = "HDF5:"
 TIFF_SUFFIX = "TIFF:"
 CAM_SUFFIX = "CAM:"
 DET_SUFFIX = "DET:"
-
-
-@skip_device()
-def numbered_slits(
-    slit_number: int = 1,
-    wait_for_connection: bool = True,
-    fake_with_ophyd_sim: bool = False,
-) -> Slits:
-    """
-    Create a slits object following the {beamline}-AL-SLITS-{slit_number} PV
-    convention
-
-    Args:
-        slit_number: The number assigned to the slits in the control system, usually
-        its position in the assembly. Defaults to 1.
-        wait_for_connection: Require connection on instantiation. Defaults to True.
-        fake_with_ophyd_sim: Make a fake device. Defaults to False.
-
-    Returns:
-        Slits: A new slits object
-    """
-
-    return device_instantiation(
-        Slits,
-        f"slits_{slit_number}",
-        f"-AL-SLITS-{slit_number:02}:",
-        wait_for_connection,
-        fake_with_ophyd_sim,
-    )

dodal/devices/aithre_lasershaping/goniometer.py

@@ -1,10 +1,6 @@
-import asyncio
-import math
-
-from ophyd_async.core import derived_signal_rw
 from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import XYZStage
+from dodal.devices.motors import XYZStage, create_axis_perp_to_rotation
 
 
 class Goniometer(XYZStage):
@@ -23,26 +19,7 @@ class Goniometer(XYZStage):
         self.sampy = Motor(prefix + "SAMPY")
         self.sampz = Motor(prefix + "SAMPZ")
         self.omega = Motor(prefix + "OMEGA")
-        self.vertical_position = derived_signal_rw(
-            self._get,
-            self._set,
-            sampy=self.sampy,
-            sampz=self.sampz,
-            omega=self.omega,
+        self.vertical_position = create_axis_perp_to_rotation(
+            self.omega, self.sampz, self.sampy
         )
         super().__init__(name)
-
-    def _get(self, sampz: float, sampy: float, omega: float) -> float:
-        z_component = sampz * math.cos(math.radians(omega))
-        y_component = sampy * math.sin(math.radians(omega))
-        return z_component + y_component
-
-    async def _set(self, value: float) -> None:
-        omega = await self.omega.user_readback.get_value()
-        z_component = value * math.cos(math.radians(omega))
-        y_component = value * math.sin(math.radians(omega))
-        await asyncio.gather(
-            self.sampy.set(y_component),
-            self.sampz.set(z_component),
-            self.omega.set(omega),
-        )

dodal/devices/aithre_lasershaping/laser_robot.py

@@ -16,7 +16,7 @@ class LidHeatEnable(StrictEnum):
 
 
 class LaserRobot(BartRobot):
-    def __init__(self, name: str, prefix: str) -> None:
+    def __init__(self, prefix: str, name: str = "") -> None:
         self.dewar_lid_heater = epics_signal_rw(
             LidHeatEnable, prefix + "DW_1_ENABLED", prefix + "DW_1_CTRL"
         )
@@ -24,4 +24,4 @@ class LaserRobot(BartRobot):
         self.set_beamline_safe = epics_signal_rw(
             ForceBit, prefix + "IP_16_FORCE_OPTION"
         )
-        super().__init__(name=name, prefix=prefix)
+        super().__init__(prefix, name)

dodal/devices/attenuator/attenuator.py

@@ -15,6 +15,8 @@ from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal
 from dodal.devices.attenuator.filter import FilterMotor
 from dodal.log import LOGGER
 
+DEFAULT_TIMEOUT = 60
+
 
 class ReadOnlyAttenuator(StandardReadable):
     """A read-only attenuator class with a minimum set of PVs for reading.
@@ -83,7 +85,7 @@ class BinaryFilterAttenuator(ReadOnlyAttenuator, Movable[float]):
                 wait_for_value(
                     self._filters_in_position[i],
                     bool(await self._calculated_filter_states[i].get_value()),
-                    None,
+                    DEFAULT_TIMEOUT,
                 )
                 for i in range(16)
             ]

dodal/devices/focusing_mirror.py

@@ -113,7 +113,7 @@ class SingleMirrorVoltage(Device):
 
 class MirrorVoltages(StandardReadable):
     def __init__(
-        self, name: str, prefix: str, *args, daq_configuration_path: str, **kwargs
+        self, prefix: str, name: str = "", *args, daq_configuration_path: str, **kwargs
     ):
         self.voltage_lookup_table_path = (
             daq_configuration_path + "/json/mirrorFocus.json"

dodal/devices/i03/undulator_dcm.py

@@ -27,6 +27,8 @@ class UndulatorDCM(StandardReadable, Movable[float]):
     instead. See https://github.com/DiamondLightSource/dodal/issues/1092
     """
 
+    DCM_PERP_TOLERANCE = 0.01
+
     def __init__(
         self,
         undulator: Undulator,
@@ -60,6 +62,9 @@ class UndulatorDCM(StandardReadable, Movable[float]):
             self.dcm_ref().energy_in_kev.set(value, timeout=ENERGY_TIMEOUT_S),
             self.undulator_ref().set(value),
         )
-        # DCM Perp pitch
-        LOGGER.info(f"Adjusting DCM offset to {self.dcm_fixed_offset_mm} mm")
-        await self.dcm_ref().offset_in_mm.set(self.dcm_fixed_offset_mm)
+
+        # The DCM perp is under vacuum so for heat management it's best to only change it when required
+        current_offset = await self.dcm_ref().offset_in_mm.user_readback.get_value()
+        if abs(current_offset - self.dcm_fixed_offset_mm) > self.DCM_PERP_TOLERANCE:
+            LOGGER.info(f"Adjusting DCM offset to {self.dcm_fixed_offset_mm} mm")
+            await self.dcm_ref().offset_in_mm.set(self.dcm_fixed_offset_mm)

dodal/devices/i10/mirrors.py

@@ -1,19 +1,15 @@
 from ophyd_async.epics.core import epics_signal_rw
-from ophyd_async.epics.motor import Motor
 
-from dodal.devices.motors import XYZStage
+from dodal.devices.motors import XYZPitchYawRollStage
 
 
-class PiezoMirror(XYZStage):
+class PiezoMirror(XYZPitchYawRollStage):
     def __init__(
         self,
         prefix: str,
         name: str = "",
     ):
         with self.add_children_as_readables():
-            self.yaw = Motor(prefix + "YAW")
-            self.pitch = Motor(prefix + "PITCH")
-            self.roll = Motor(prefix + "ROLL")
             self.fine_pitch = epics_signal_rw(
                 float,
                 read_pv=prefix + "FPITCH:RBV:AI",

dodal/devices/motors.py

@@ -1,6 +1,8 @@
+import asyncio
+import math
 from abc import ABC
 
-from ophyd_async.core import StandardReadable
+from ophyd_async.core import StandardReadable, derived_signal_rw
 from ophyd_async.epics.motor import Motor
 
 _X, _Y, _Z = "X", "Y", "Z"
@@ -89,6 +91,25 @@ class XYPitchStage(XYStage):
         super().__init__(prefix, name, x_infix, y_infix)
 
 
+class XYZPitchYawRollStage(XYZStage):
+    def __init__(
+        self,
+        prefix: str,
+        name: str = "",
+        x_infix: str = _X,
+        y_infix: str = _Y,
+        z_infix: str = _Z,
+        pitch_infix: str = "PITCH",
+        yaw_infix: str = "YAW",
+        roll_infix: str = "ROLL",
+    ):
+        with self.add_children_as_readables():
+            self.pitch = Motor(prefix + pitch_infix)
+            self.yaw = Motor(prefix + yaw_infix)
+            self.roll = Motor(prefix + roll_infix)
+        super().__init__(prefix, name, x_infix, y_infix, z_infix)
+
+
 class SixAxisGonio(XYZStage):
     def __init__(
         self,
@@ -101,12 +122,19 @@ class SixAxisGonio(XYZStage):
         phi_infix: str = "PHI",
         omega_infix: str = "OMEGA",
     ):
+        """Six-axis goniometer with a standard xyz stage and three axes of rotation:
+        kappa, phi and omega.
+        """
         with self.add_children_as_readables():
             self.kappa = Motor(prefix + kappa_infix)
             self.phi = Motor(prefix + phi_infix)
             self.omega = Motor(prefix + omega_infix)
         super().__init__(prefix, name, x_infix, y_infix, z_infix)
 
+        self.vertical_in_lab_space = create_axis_perp_to_rotation(
+            self.omega, self.y, self.z
+        )
+
 
 class YZStage(Stage):
     def __init__(
@@ -116,3 +144,49 @@ class YZStage(Stage):
             self.y = Motor(prefix + y_infix)
             self.z = Motor(prefix + z_infix)
         super().__init__(name)
+
+
+def create_axis_perp_to_rotation(motor_theta: Motor, motor_i: Motor, motor_j: Motor):
+    """Given a signal that controls a motor in a rotation axis and two other
+    signals controlling motors on a pair of orthogonal axes, these axes being in the
+    rotating frame of reference created by the first axis, create a derived signal
+    that is a projection of the two axes in the non-rotating frame of reference.
+
+    The projection is onto the axis defined by i when the rotation angle is 0 and
+    defined by j when the angle is at 90.
+
+    The usual use case for this is translating from sample space to lab space. For
+    example, if you have a sample that is mounted on a goniometer to the right hand side
+    of an OAV view this can provide an axis that will move the sample up/down in that
+    view regardless of the omega orientation of the sample.
+
+    Args:
+        motor_theta (Motor): this is the rotation axis of the sample.
+        motor_i (Motor): this is the axis that, when the sample is at 0 deg rotation,
+                         a move here is entirely parallel with the derived axis.
+        motor_j (Motor): this is the axis that, when the sample is at 90 deg rotation,
+                         a move here is entirely parallel with the derived axis.
+    """
+
+    def _get(j_val: float, i_val: float, rot_value: float) -> float:
+        i_component = i_val * math.cos(math.radians(rot_value))
+        j_component = j_val * math.sin(math.radians(rot_value))
+        return i_component + j_component
+
+    async def _set(vertical_value: float) -> None:
+        rot_value = await motor_theta.user_readback.get_value()
+        i_component = vertical_value * math.cos(math.radians(rot_value))
+        j_component = vertical_value * math.sin(math.radians(rot_value))
+        await asyncio.gather(
+            motor_i.set(i_component),
+            motor_j.set(j_component),
+            motor_theta.set(rot_value),
+        )
+
+    return derived_signal_rw(
+        _get,
+        _set,
+        i_val=motor_i,
+        j_val=motor_j,
+        rot_value=motor_theta,
+    )

dodal/devices/robot.py

@@ -77,7 +77,7 @@ class BartRobot(StandardReadable, Movable[SampleLocation]):
     # How far the gonio position can be out before loading will fail
     LOAD_TOLERANCE_MM = 0.02
 
-    def __init__(self, name: str, prefix: str) -> None:
+    def __init__(self, prefix: str, name: str = "") -> None:
         with self.add_children_as_readables(StandardReadableFormat.HINTED_SIGNAL):
             self.barcode = epics_signal_r(str, prefix + "BARCODE")
             self.gonio_pin_sensor = epics_signal_r(PinMounted, prefix + "PIN_MOUNTED")