Xlj Fast

xlj_fast

XLJ (X-ray Liquid Jet) fast motor control with interactive keyboard interface.

Provides real-time keyboard control for liquid jet positioning with support for translational (X, Y, Z) and rotational (RX, RY, RZ) axes.

Attributes

KEYS module-attribute

KEYS = {'up': '\x1b[A', 'down': '\x1b[B', 'right': '\x1b[C', 'left': '\x1b[D', 'shift_up': '\x1b[1;2A', 'shift_down': '\x1b[1;2B', 'shift_right': '\x1b[1;2C', 'shift_left': '\x1b[1;2D', 'plus': '+', 'equal': '=', 'minus': '-', 'under': '_'}

logger module-attribute

logger = getLogger(__name__)

Classes

BypassPositionCheck

Bases: PVPositionerDone

PV positioner with position check bypass for fast movements.

Extends PVPositionerDone to skip position verification, allowing faster continuous motion for interactive control.

Components

setpoint : EpicsSignal Target position PV actuate : EpicsSignal Move command trigger

Notes

Bypassing Position Check: - Standard positioners wait for position reached - Interactive control needs immediate response - This class starts move and returns immediately - Position tracking happens asynchronously

Use Cases: - Interactive jogging - Continuous motion - Fast scanning - Real-time adjustments

Warnings

• No verification that position reached
• Responsibility on user to monitor
• Not suitable for precision positioning

Examples:

>>> motor = BypassPositionCheck('MFX:LJH:JET:X', name='xlj_x')
>>> motor.move(10.0)  # Returns immediately

Attributes

actuate class-attribute instance-attribute

actuate = Component(EpicsSignal, ':PLC:bMoveCmd')

setpoint class-attribute instance-attribute

setpoint = Component(EpicsSignal, ':PLC:fPosition')

XLJController

XLJController(motors: List, orientation: str = 'horizontal', scale: float = 0.1, mode: str = 'translation')

Interactive keyboard controller for XLJ motors.

Provides real-time keyboard-based control with visual feedback and configurable step sizes.

Attributes:

Name	Type	Description
motors	List	List of motor objects to control
orientation	str	Camera view orientation: 'horizontal' or 'vertical'
scale	float	Current step size for movements
mode	str	Control mode: 'translation', 'rotation', or '6axis'
xlj	BeckhoffJet	Full XLJ device for status monitoring

Methods:

Name	Description
run	Start interactive control loop
print_help	Display control instructions
process_key	Handle keyboard input
update_scale	Adjust step size

Notes

Konsole compatibility: - After the GNOME -> KDE migration, Konsole does not pass through Shift+Arrow key escape sequences. - Shift+Up/Shift+Down and Shift+Right/Shift+Left remain supported as legacy keys (e.g. on gnome-terminal), but numpad-style alternatives are provided for Konsole users: 8=Shift+Up, 2=Shift+Down, 6=Shift+Right, 4=Shift+Left.

Control Modes:

Translation (X, Y, Z): - Arrow keys: Move X and Y - Shift+Up/Down (legacy) or 8/2: Move Z - Direct spatial control - Units: mm

Rotation (RX, RY, RZ): - Arrow keys: Rotate RX and RY - Shift+Up/Down (legacy) or 8/2: Rotate RZ - Angular adjustments - Units: degrees

6-Axis (X, Y, Z, RX, RY, RZ): - Arrow keys: Move X and Y - Shift+Up/Down (legacy) or 8/2: Move Z - W/S: Rotate RY (horizontal) or RX (vertical) - A/D: Rotate RX (horizontal) or RY (vertical) - Shift+W/S: Rotate RZ - Full control of all DOF - Note: W/S/A/D remain dedicated to rotation in this mode, so Z movement uses 8/2 (not W/S) to avoid a key collision on Konsole

Orientation: - Horizontal: Standard camera view - Vertical: 90° rotated camera - Affects arrow key mapping - Matches visual feedback

Step Size Control: - +/=: Double current step - -/_: Halve current step - Shift+Right (legacy) or 6: Double step - Shift+Left (legacy) or 4: Halve step - Dynamic adjustment during use

Visual Feedback: - Current positions displayed - Step size shown - Motor names labeled - Updates after each move

Examples:

Create controller:

>>> from xlj_fast import XLJController
>>> motors = [xlj_x, xlj_y, xlj_z]
>>> ctrl = XLJController(motors, 'horizontal', 0.1, 'translation')
>>> ctrl.run()

See Also

xlj_fast : Translation control function xlj_fast_rot : Rotation control function xlj_6axis : Full 6-axis control function

Initialize XLJ controller.

Parameters:

Name	Type	Description	Default
motors	List	Motor objects to control	required
orientation	str	Camera orientation. Default is 'horizontal'.	'horizontal'
scale	float	Initial step size. Default is 0.1.	0.1
mode	str	Control mode. Default is 'translation'.	'translation'

Source code in mfx/xlj_fast.py

def __init__(
    self,
    motors: List,
    orientation: str = "horizontal",
    scale: float = 0.1,
    mode: str = "translation",
):
    """
    Initialize XLJ controller.

    Parameters
    ----------
    motors : List
        Motor objects to control
    orientation : str, optional
        Camera orientation. Default is 'horizontal'.
    scale : float, optional
        Initial step size. Default is 0.1.
    mode : str, optional
        Control mode. Default is 'translation'.
    """
    self.motors = motors
    self.orientation = orientation.lower()
    self.scale = scale
    self.mode = mode.lower()
    self.xlj = None  # Set by caller if needed

    # Setup key mappings based on mode
    if mode == "translation":
        self._setup_translation_keys()
    elif mode == "rotation":
        self._setup_rotation_keys()
    elif mode == "6axis":
        self._setup_6axis_keys()
    else:
        raise ValueError(f"Unknown mode: {mode}")

    logger.info(f"XLJ Controller initialized: {mode} mode")

Attributes

mode instance-attribute

mode = lower()

motors instance-attribute

motors = motors

orientation instance-attribute

orientation = lower()

scale instance-attribute

scale = scale

scale_keys property

scale_keys

Return tuple of scale adjustment keys.

'4'/'6' are Konsole-friendly numpad alternatives to the legacy Shift+Left/Shift+Right keys for halving/doubling the step size.

xlj instance-attribute

xlj = None

Functions

ensure_synced_before_move

ensure_synced_before_move(motor, decimals: int = 2)

OG behavior: compare jet readback to fast motor readback. If mismatch, log error and resync motor to jet position.

Source code in mfx/xlj_fast.py

def ensure_synced_before_move(self, motor, decimals: int = 2):
    """
    OG behavior: compare jet readback to fast motor readback.
    If mismatch, log error and resync motor to jet position.
    """
    if not hasattr(self, "xlj") or self.xlj is None:
        return

    jet_getter = self._axis_to_jet_getter(motor)
    if jet_getter is None:
        return  # only applies to X/Y/Z

    try:
        jet_pos = float(jet_getter())
        mot_pos = float(motor())
    except Exception:
        logger.debug("Could not read positions for sync check", exc_info=True)
        return

    if round(jet_pos, decimals) != round(mot_pos, decimals):
        logger.error(
            "Position mismatch before move: %s=%.4f, %s=%.4f",
            "xlj.jet",
            jet_pos,
            motor.name,
            mot_pos,
        )
        # Resync to jet position (OG behavior)
        try:
            motor.umv(jet_pos)
        except Exception:
            logger.error("Failed to resync %s to jet position", motor.name)
            logger.debug("", exc_info=True)

execute_move

execute_move(axis: str, direction: int)

Execute a relative move for the motor identified by axis (x,y,z,rx,ry,rz) with OG-style X/Y/Z sync check + resync.

Source code in mfx/xlj_fast.py

def execute_move(self, axis: str, direction: int):
    """
    Execute a relative move for the motor identified by `axis`
    (x,y,z,rx,ry,rz) with OG-style X/Y/Z sync check + resync.
    """
    axis = axis.lower()

    # Find motor corresponding to axis token
    motor = None
    for m in self.motors:
        mname = (getattr(m, "name", "") or "").lower()
        if mname == axis or mname.endswith(f"_{axis}"):
            motor = m
            break

    if motor is None:
        logger.error("No motor found for axis '%s'", axis)
        return

    delta = self.scale * direction

    # OG-style sync check/resync for translation axes only
    if axis in ("x", "y", "z"):
        try:
            xlj = getattr(self, "xlj", None)
            jet = getattr(xlj, "jet", None) if xlj is not None else None
            jet_getter = getattr(jet, axis, None) if jet is not None else None

            if jet_getter is not None:
                jet_pos = float(jet_getter())
                mot_pos = float(motor())

                if round(jet_pos, 2) != round(mot_pos, 2):
                    logger.error(
                        f"xlj.jet.{axis} = {jet_pos}, {motor.name} = {mot_pos}"
                    )
                    motor.umv(jet_pos)
        except Exception as exc:
            logger.error("Error in position sync check for %s: %s", motor.name, exc)
            logger.debug("", exc_info=True)

    # Do relative move (quiet like OG when possible)
    try:
        if hasattr(motor, "umvr"):
            motor.umvr(delta, log=False, newline=False)
        elif hasattr(motor, "mvr"):
            motor.mvr(delta)
        else:
            raise AttributeError(f"{motor.name} has no umvr/mvr method")
    except Exception as exc:
        logger.error("Error moving %s: %s", getattr(motor, "name", motor), exc)
        logger.debug("", exc_info=True)
        print(f"\nError: {exc}")

format_status_line

format_status_line() -> str

Source code in mfx/xlj_fast.py

def format_status_line(self) -> str:
    # Similar spirit to OG: concise, consistent formatting
    parts = [f"step={self.scale:.4f}"]
    for m in self.motors:
        try:
            parts.append(f"{m.name}:{m.wm():.4f}")
        except Exception:
            # fallback if wm() not available
            parts.append(f"{m.name}:{float(m()):.4f}")
    return "  ".join(parts)

print_help

print_help()

Display control instructions.

Note: On Konsole (KDE's terminal, used after the GNOME -> KDE migration), Shift+Arrow key combinations are not passed through to the application. Use the numpad-style alternatives below (8/2/4/6) instead when running under Konsole.

Source code in mfx/xlj_fast.py

def print_help(self):
    """Display control instructions.

    Note: On Konsole (KDE's terminal, used after the GNOME -> KDE
    migration), Shift+Arrow key combinations are not passed through
    to the application. Use the numpad-style alternatives below
    (8/2/4/6) instead when running under Konsole.
    """
    print("\n" + "=" * 60)
    print(f"XLJ {self.mode.upper()} MODE CONTROL")
    print("=" * 60)

    if self.mode == "translation":
        print("Arrow Keys:")
        print("  ← → : Move X axis")
        print("  ↑ ↓ : Move Y axis")
        print("  Shift+↑ ↓ (legacy) or 8/2 : Move Z axis upstream/downstream")

    elif self.mode == "rotation":
        print("Arrow Keys:")
        print("  ← → : Rotate RX axis")
        print("  ↑ ↓ : Rotate RY axis")
        print("  Shift+↑ ↓ (legacy) or 8/2 : Rotate RZ axis")

    elif self.mode == "6axis":
        print("Translation:")
        print("  ← → : Move X axis")
        print("  ↑ ↓ : Move Y axis")
        print("  Shift+↑ ↓ (legacy) or 8/2 : Move Z axis")
        print("\nRotation (horizontal camera):")
        print("  W/S : Rotate RY axis")
        print("  A/D : Rotate RX axis")
        print("  Shift+W/S : Rotate RZ axis")
        print("\nRotation (vertical camera):")
        print("  W/S : Rotate RX axis")
        print("  A/D : Rotate RY axis")
        print("  Shift+W/S : Rotate RZ axis")

    print("\nStep Size:")
    print("  + or = : Double step size")
    print("  - or _ : Halve step size")
    print("  Shift+→ (legacy) or 6 : Double step size")
    print("  Shift+← (legacy) or 4 : Halve step size")

    print("\nKonsole note:")
    print("  Shift+Arrow keys do not register on Konsole (KDE).")
    print("  Use the numpad keys 8/2/4/6 as alternatives.")

    print("\nOther:")
    print("  h : Show this help")
    print("  q : Quit")
    print("=" * 60)

print_status_line

print_status_line(in_place: bool = True)

Source code in mfx/xlj_fast.py

def print_status_line(self, in_place: bool = True):
    line = self.format_status_line()
    if in_place:
        # overwrite current line
        sys.stdout.write("\r" + line + " " * 10)
        sys.stdout.flush()
    else:
        print(line)

run

run()

Interactive control loop with OG-style one-line status output. - Status line updates in-place using ESC[2K + \r - Press 'h' prints the full help (your print_help) and returns to status line - Unknown keys print help (like OG)

Source code in mfx/xlj_fast.py

def run(self):
    """
    Interactive control loop with OG-style one-line status output.
    - Status line updates in-place using ESC[2K + \\r
    - Press 'h' prints the full help (your print_help) and returns to status line
    - Unknown keys print help (like OG)
    """

    def motor_pos(m):
        try:
            if hasattr(m, "wm"):
                return float(m.wm())
            if callable(m):
                return float(m())
            return float(m.position)
        except Exception:
            return None

    def status_line():
        # OG-ish formatting: fixed decimals unless extremely small
        template = (
            "{name}: {pos:.4f}" if self.scale >= 1e-4 else "{name}: {pos:.4e}"
        )
        parts = []
        for m in self.motors:
            name = getattr(m, "name", "motor")
            pos = motor_pos(m)
            if pos is None:
                parts.append(f"{name}: ERR")
            else:
                parts.append(template.format(name=name, pos=pos))
        parts.append(f"scale: {self.scale}")
        return ", ".join(parts)

    def show_status():
        sys.stdout.write("\x1b[2K\r" + status_line())
        sys.stdout.flush()

    # Start
    self.print_help()
    print()  # newline so status line has a clean row

    fd = sys.stdin.fileno()
    old_settings = termios.tcgetattr(fd)

    try:
        tty.setraw(fd)

        while True:
            show_status()

            # Read 1 char or escape sequence
            char = sys.stdin.read(1)
            if char == "\x1b":
                char += sys.stdin.read(2)  # e.g. \x1b[A
                if char == "\x1b[1":
                    char += sys.stdin.read(3)  # e.g. \x1b[1;2A

            # Quit
            if char == "q":
                print()
                break

            # Help
            if char == "h":
                print()  # don't overwrite status line
                self.print_help()
                continue

            # Move
            if char in self.move_map:
                axis, direction = self.move_map[char]
                self.execute_move(axis, direction)
                continue

            # Scale ('6' and '4' are Konsole-friendly numpad
            # alternatives to the legacy shift_right/shift_left keys)
            if char in (KEYS["plus"], KEYS["equal"], KEYS["shift_right"], "6"):
                self.update_scale(2.0)
                continue
            if char in (KEYS["minus"], KEYS["under"], KEYS["shift_left"], "4"):
                self.update_scale(0.5)
                continue

            # Unknown: OG behavior = complain/show usage
            print()
            self.print_help()

    finally:
        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
        # leave cursor on a new line
        print()

update_scale

update_scale(factor: float)

Update step size by multiplication factor.

Parameters:

Name	Type	Description	Default
factor	float	Multiplication factor (e.g., 2.0 to double, 0.5 to halve)	required

Source code in mfx/xlj_fast.py

def update_scale(self, factor: float):
    """
    Update step size by multiplication factor.

    Parameters
    ----------
    factor : float
        Multiplication factor (e.g., 2.0 to double, 0.5 to halve)
    """
    self.scale *= factor
    logger.info(f"Step size: {self.scale:.6f}")
    print(f"Step size: {self.scale:.6f}")

Functions

xlj_6axis

xlj_6axis(orientation: str = 'horizontal', scale: float = 0.1)

Interactive XLJ 6-axis control (X, Y, Z, RX, RY, RZ).

Provides complete keyboard-based control for all liquid jet degrees of freedom.

Parameters:

Name	Type	Description	Default
orientation	str	Camera view. Default is 'horizontal'.	'horizontal'
scale	float	Initial step size (mm for translation, deg for rotation). Default is 0.1.	0.1

Returns:

Type	Description
None

Notes

Controls: - Arrow keys: Move X and Y - Shift+↑ ↓ (legacy) or 8/2 : Move Z - W/S: Rotate RY (horizontal) or RX (vertical) - A/D: Rotate RX (horizontal) or RY (vertical) - Shift+W/S: Rotate RZ - ± or Shift+→/← (legacy) or 6/4 : Adjust step size - h : Help - q : Quit

Konsole note: Shift+Arrow keys do not register on Konsole (KDE's terminal, used since the GNOME -> KDE migration). Use the numpad keys 8/2 (Z move) and 4/6 (step size) instead. W/S/A/D remain dedicated to RY/RX rotation in this mode, so Z movement uses 8/2 rather than W/S to avoid a key collision.

Examples:

>>> xlj_6axis()
>>> xlj_6axis('vertical', 0.05)

See Also

xlj_fast : Translation only xlj_fast_rot : Rotation only

Source code in mfx/xlj_fast.py

def xlj_6axis(orientation: str = "horizontal", scale: float = 0.1):
    """
    Interactive XLJ 6-axis control (X, Y, Z, RX, RY, RZ).

    Provides complete keyboard-based control for all liquid jet
    degrees of freedom.

    Parameters
    ----------
    orientation : str, optional
        Camera view. Default is 'horizontal'.
    scale : float, optional
        Initial step size (mm for translation, deg for rotation).
        Default is 0.1.

    Returns
    -------
    None

    Notes
    -----
    Controls:
    - Arrow keys: Move X and Y
    - Shift+↑ ↓ (legacy) or 8/2 : Move Z
    - W/S: Rotate RY (horizontal) or RX (vertical)
    - A/D: Rotate RX (horizontal) or RY (vertical)
    - Shift+W/S: Rotate RZ
    - +/- or Shift+→/← (legacy) or 6/4 : Adjust step size
    - h : Help
    - q : Quit

    Konsole note: Shift+Arrow keys do not register on Konsole (KDE's
    terminal, used since the GNOME -> KDE migration). Use the numpad
    keys 8/2 (Z move) and 4/6 (step size) instead. W/S/A/D remain
    dedicated to RY/RX rotation in this mode, so Z movement uses 8/2
    rather than W/S to avoid a key collision.

    Examples
    --------
    >>> xlj_6axis()
    >>> xlj_6axis('vertical', 0.05)

    See Also
    --------
    xlj_fast : Translation only
    xlj_fast_rot : Rotation only
    """
    xlj_x = BypassPositionCheck("MFX:LJH:JET:X", name="xlj_x")
    xlj_y = BypassPositionCheck("MFX:LJH:JET:Y", name="xlj_y")
    xlj_z = BypassPositionCheck("MFX:LJH:JET:Z", name="xlj_z")
    xlj_rx = IMS("MFX:HRA:MMS:02", name="xlj_rx")
    xlj_ry = IMS("MFX:HRA:MMS:04", name="xlj_ry")
    xlj_rz = IMS("MFX:HRA:MMS:03", name="xlj_rz")

    motors = [xlj_x, xlj_y, xlj_z, xlj_rx, xlj_ry, xlj_rz]
    ctrl = XLJController(motors, orientation, scale, "6axis")
    ctrl.xlj = BeckhoffJet("MFX:LJH", name="xlj")

    logger.info("Starting XLJ 6-axis control")
    ctrl.run()

xlj_fast

xlj_fast(orientation: str = 'horizontal', scale: float = 0.1)

Interactive XLJ translation control (X, Y, Z).

Provides keyboard-based control for liquid jet X, Y, and Z positioning.

Parameters:

Name	Type	Description	Default
orientation	str	Camera view: 'horizontal' or 'vertical'. Default is 'horizontal'.	'horizontal'
scale	float	Initial step size in mm. Default is 0.1.	0.1

Returns:

Type	Description
None

Notes

Controls: - Arrow keys: Move X and Y - Shift+↑ ↓ (legacy) or 8/2 : Move Z upstream/downstream - ± or Shift+→/← (legacy) or 6/4 : Adjust step size - h : Help - q : Quit

Konsole note: Shift+Arrow keys do not register on Konsole (KDE's terminal, used since the GNOME -> KDE migration). Use the numpad keys 8/2 (Z move) and 4/6 (step size) instead.

Examples:

>>> xlj_fast()  # Horizontal orientation
>>> xlj_fast('vertical', 0.05)  # Vertical, smaller steps

See Also

xlj_fast_rot : Rotation control xlj_6axis : Full 6-axis control

Source code in mfx/xlj_fast.py

def xlj_fast(orientation: str = "horizontal", scale: float = 0.1):
    """
    Interactive XLJ translation control (X, Y, Z).

    Provides keyboard-based control for liquid jet X, Y, and Z
    positioning.

    Parameters
    ----------
    orientation : str, optional
        Camera view: 'horizontal' or 'vertical'.
        Default is 'horizontal'.
    scale : float, optional
        Initial step size in mm.
        Default is 0.1.

    Returns
    -------
    None

    Notes
    -----
    Controls:
    - Arrow keys: Move X and Y
    - Shift+↑ ↓ (legacy) or 8/2 : Move Z upstream/downstream
    - +/- or Shift+→/← (legacy) or 6/4 : Adjust step size
    - h : Help
    - q : Quit

    Konsole note: Shift+Arrow keys do not register on Konsole (KDE's
    terminal, used since the GNOME -> KDE migration). Use the numpad
    keys 8/2 (Z move) and 4/6 (step size) instead.

    Examples
    --------
    >>> xlj_fast()  # Horizontal orientation
    >>> xlj_fast('vertical', 0.05)  # Vertical, smaller steps

    See Also
    --------
    xlj_fast_rot : Rotation control
    xlj_6axis : Full 6-axis control
    """
    xlj_x = BypassPositionCheck("MFX:LJH:JET:X", name="xlj_x")
    xlj_y = BypassPositionCheck("MFX:LJH:JET:Y", name="xlj_y")
    xlj_z = BypassPositionCheck("MFX:LJH:JET:Z", name="xlj_z")

    motors = [xlj_x, xlj_y, xlj_z]
    ctrl = XLJController(motors, orientation, scale, "translation")
    ctrl.xlj = BeckhoffJet("MFX:LJH", name="xlj")

    logger.info("Starting XLJ translation control")
    ctrl.run()

xlj_fast_rot

xlj_fast_rot(orientation: str = 'horizontal', scale: float = 0.1)

Interactive XLJ rotation control (RX, RY, RZ).

Provides keyboard-based control for liquid jet rotation axes.

Parameters:

Name	Type	Description	Default
orientation	str	Camera view. Default is 'horizontal'.	'horizontal'
scale	float	Initial step size in degrees. Default is 0.1.	0.1

Returns:

Type	Description
None

Notes

Controls: - Arrow keys: Rotate RX and RY - Shift+↑ ↓ (legacy) or 8/2 : Rotate RZ - ± or Shift+→/← (legacy) or 6/4 : Adjust step size - h : Help - q : Quit

Konsole note: Shift+Arrow keys do not register on Konsole (KDE's terminal, used since the GNOME -> KDE migration). Use the numpad keys 8/2 (RZ rotate) and 4/6 (step size) instead.

Examples:

>>> xlj_fast_rot()
>>> xlj_fast_rot('vertical', 0.05)

See Also

xlj_fast : Translation control xlj_6axis : Full 6-axis control

Source code in mfx/xlj_fast.py

def xlj_fast_rot(orientation: str = "horizontal", scale: float = 0.1):
    """
    Interactive XLJ rotation control (RX, RY, RZ).

    Provides keyboard-based control for liquid jet rotation axes.

    Parameters
    ----------
    orientation : str, optional
        Camera view. Default is 'horizontal'.
    scale : float, optional
        Initial step size in degrees.
        Default is 0.1.

    Returns
    -------
    None

    Notes
    -----
    Controls:
    - Arrow keys: Rotate RX and RY
    - Shift+↑ ↓ (legacy) or 8/2 : Rotate RZ
    - +/- or Shift+→/← (legacy) or 6/4 : Adjust step size
    - h : Help
    - q : Quit

    Konsole note: Shift+Arrow keys do not register on Konsole (KDE's
    terminal, used since the GNOME -> KDE migration). Use the numpad
    keys 8/2 (RZ rotate) and 4/6 (step size) instead.

    Examples
    --------
    >>> xlj_fast_rot()
    >>> xlj_fast_rot('vertical', 0.05)

    See Also
    --------
    xlj_fast : Translation control
    xlj_6axis : Full 6-axis control
    """
    xlj_rx = IMS("MFX:HRA:MMS:02", name="xlj_rx")
    xlj_ry = IMS("MFX:HRA:MMS:04", name="xlj_ry")
    xlj_rz = IMS("MFX:HRA:MMS:03", name="xlj_rz")

    motors = [xlj_rx, xlj_ry, xlj_rz]
    ctrl = XLJController(motors, orientation, scale, "rotation")

    logger.info("Starting XLJ rotation control")
    ctrl.run()