Stages and filter wheels
========================

Stages and filter wheels are controlled by apps derived from the
`stdMotionStage <https://github.com/magao-x/MagAOX/blob/master/libMagAOX/app/dev/stdMotionStage.hpp>`__
implementation, meaning they share some common properties and options.

filterWheelCtrl
---------------

``filterWheelCtrl`` controls an MCBL 3006S based filter wheel for
MagAO-X. As of Dec, 2018, there are 6 such wheels in MagAO-X. This
program communicates with the MCBL 3006S controller via USB. It monitors
the position and motion status of the wheel, and via INDI accepts
commands to home and change wheel position.

Options
~~~~~~~

+-----+----------------------+--------------------+-----------------+---+
| Sh  | Long                 | Config-File        | Type            | D |
| ort |                      |                    |                 | e |
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+=====+======================+====================+=================+===+
|     | ``--power.device``   | power.device       | string          | D |
|     |                      |                    |                 | e |
|     |                      |                    |                 | v |
|     |                      |                    |                 | i |
|     |                      |                    |                 | c |
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|     |                      |                    |                 | ) |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--power.outlet``   | power.outlet       | string          | O |
|     |                      |                    |                 | u |
|     |                      |                    |                 | t |
|     |                      |                    |                 | l |
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|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--power.element``  | power.element      | string          | I |
|     |                      |                    |                 | N |
|     |                      |                    |                 | D |
|     |                      |                    |                 | I |
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+-----+----------------------+--------------------+-----------------+---+
|     | ``--usb.idVendor``   | usb.idVendor       | string          | U |
|     |                      |                    |                 | S |
|     |                      |                    |                 | B |
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+-----+----------------------+--------------------+-----------------+---+
|     | ``--usb.idProduct``  | usb.idProduct      | string          | U |
|     |                      |                    |                 | S |
|     |                      |                    |                 | B |
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|     |                      |                    |                 | s |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--usb.serial``     | usb.serial         | string          | U |
|     |                      |                    |                 | S |
|     |                      |                    |                 | B |
|     |                      |                    |                 | s |
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+-----+----------------------+--------------------+-----------------+---+
|     | ``--usb.baud``       | usb.baud           | real            | U |
|     |                      |                    |                 | S |
|     |                      |                    |                 | B |
|     |                      |                    |                 | t |
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|     |                      |                    |                 | 6 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | ) |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--timeouts.write`` | timeouts.write     | int             | T |
|     |                      |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | t |
|     |                      |                    |                 | i |
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|     |                      |                    |                 | 1 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--timeouts.read``  | timeouts.read      | int             | T |
|     |                      |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | t |
|     |                      |                    |                 | i |
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|     |                      |                    |                 | 1 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--                 | motor.acceleration | real            | T |
|     | motor.acceleration`` |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | m |
|     |                      |                    |                 | o |
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|     |                      |                    |                 | 1 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--motor.speed``    | motor.speeed       | real            | T |
|     |                      |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | m |
|     |                      |                    |                 | o |
|     |                      |                    |                 | t |
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|     |                      |                    |                 | . |
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|     |                      |                    |                 | 1 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``-                  | motor.circleSteps  | long            | T |
|     | -motor.circleSteps`` |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | n |
|     |                      |                    |                 | u |
|     |                      |                    |                 | m |
|     |                      |                    |                 | b |
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|     |                      |                    |                 | i |
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|     |                      |                    |                 | n |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``                   | motor.homeOffset   | long            | T |
|     | --motor.homeOffset`` |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | h |
|     |                      |                    |                 | o |
|     |                      |                    |                 | m |
|     |                      |                    |                 | i |
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|     |                      |                    |                 | t |
|     |                      |                    |                 | s |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``-                  | motor.powerOnHome  | bool            | I |
|     | -motor.powerOnHome`` |                    |                 | f |
|     |                      |                    |                 | t |
|     |                      |                    |                 | r |
|     |                      |                    |                 | u |
|     |                      |                    |                 | e |
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|     |                      |                    |                 | h |
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|     |                      |                    |                 | / |
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|     |                      |                    |                 | s |
|     |                      |                    |                 | e |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``--filters.names``  | filters.names      | vector of       | T |
|     |                      |                    | strings         | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | n |
|     |                      |                    |                 | a |
|     |                      |                    |                 | m |
|     |                      |                    |                 | e |
|     |                      |                    |                 | s |
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|     |                      |                    |                 | h |
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|     |                      |                    |                 | i |
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|     |                      |                    |                 | t |
|     |                      |                    |                 | e |
|     |                      |                    |                 | r |
|     |                      |                    |                 | s |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+
|     | ``-                  | filters.positions  | vector of       | T |
|     | -filters.positions`` |                    | doubles         | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | p |
|     |                      |                    |                 | o |
|     |                      |                    |                 | s |
|     |                      |                    |                 | i |
|     |                      |                    |                 | t |
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|     |                      |                    |                 | f |
|     |                      |                    |                 | i |
|     |                      |                    |                 | l |
|     |                      |                    |                 | t |
|     |                      |                    |                 | e |
|     |                      |                    |                 | r |
|     |                      |                    |                 | s |
|     |                      |                    |                 | . |
|     |                      |                    |                 | I |
|     |                      |                    |                 | f |
|     |                      |                    |                 | o |
|     |                      |                    |                 | m |
|     |                      |                    |                 | i |
|     |                      |                    |                 | t |
|     |                      |                    |                 | t |
|     |                      |                    |                 | e |
|     |                      |                    |                 | d |
|     |                      |                    |                 | o |
|     |                      |                    |                 | r |
|     |                      |                    |                 | 0 |
|     |                      |                    |                 | t |
|     |                      |                    |                 | h |
|     |                      |                    |                 | e |
|     |                      |                    |                 | n |
|     |                      |                    |                 | o |
|     |                      |                    |                 | r |
|     |                      |                    |                 | d |
|     |                      |                    |                 | e |
|     |                      |                    |                 | r |
|     |                      |                    |                 | i |
|     |                      |                    |                 | s |
|     |                      |                    |                 | u |
|     |                      |                    |                 | s |
|     |                      |                    |                 | e |
|     |                      |                    |                 | d |
|     |                      |                    |                 | . |
+-----+----------------------+--------------------+-----------------+---+