Make undulator gap flyable

src/dodal/devices/i10/i10_apple2.py

@@ -22,7 +22,7 @@
     UndulatorPhaseAxes,
 )
 from dodal.devices.insertion_device.energy_motor_lookup import EnergyMotorLookup
-from dodal.devices.insertion_device.id_enum import Pol
+from dodal.devices.insertion_device.enum import Pol
 
 ROW_PHASE_MOTOR_TOLERANCE = 0.004
 MAXIMUM_ROW_PHASE_MOTOR_POSITION = 24.0
@@ -141,12 +141,12 @@ async def _set_linear_arbitrary_angle(self, pol_angle: float) -> None:
     def _get_apple2_value(self, gap: float, phase: float, pol: Pol) -> Apple2Val:
         phase3 = phase * (-1 if pol == Pol.LA else 1)
         return Apple2Val(
-            gap=f"{gap:.6f}",
+            gap=gap,
             phase=Apple2PhasesVal(
-                top_outer=f"{phase:.6f}",
-                top_inner="0.0",
-                btm_inner=f"{phase3:.6f}",
-                btm_outer="0.0",
+                top_outer=phase,
+                top_inner=0.0,
+                btm_inner=phase3,
+                btm_outer=0.0,
             ),
         )
 

src/dodal/devices/i17/i17_apple2.py

@@ -1,4 +1,4 @@
-from dodal.devices.insertion_device.apple2_undulator import (
+from dodal.devices.insertion_device import (
     Apple2,
     Apple2Controller,
     Apple2PhasesVal,
@@ -56,11 +56,11 @@ def __init__(
 
     def _get_apple2_value(self, gap: float, phase: float, pol: Pol) -> Apple2Val:
         return Apple2Val(
-            gap=f"{gap:.6f}",
+            gap=gap,
             phase=Apple2PhasesVal(
-                top_outer=f"{phase:.6f}",
-                top_inner=f"{0.0:.6f}",
-                btm_inner=f"{phase:.6f}",
-                btm_outer=f"{0.0:.6f}",
+                top_outer=phase,
+                top_inner=0.0,
+                btm_inner=phase,
+                btm_outer=0.0,
             ),
         )

src/dodal/devices/insertion_device/__init__.py

@@ -1,33 +1,35 @@
-from .apple2_undulator import (
-    DEFAULT_MOTOR_MIN_TIMEOUT,
+from .apple2_controller import (
     MAXIMUM_MOVE_TIME,
-    Apple2,
     Apple2Controller,
     Apple2EnforceLHMoveController,
+    EnergyMotorConvertor,
+)
+from .apple2_undulator import (
+    DEFAULT_MOTOR_MIN_TIMEOUT,
+    Apple2,
     Apple2LockedPhasesVal,
     Apple2PhasesVal,
     Apple2Val,
-    BeamEnergy,
     EnabledDisabledUpper,
-    EnergyMotorConvertor,
-    InsertionDeviceEnergy,
-    InsertionDevicePolarisation,
     UndulatorGap,
     UndulatorJawPhase,
     UndulatorLockedPhaseAxes,
     UndulatorPhaseAxes,
+    UnstoppableMotor,
 )
+from .energy import BeamEnergy, InsertionDeviceEnergy, InsertionDeviceEnergyBase
 from .energy_motor_lookup import (
     ConfigServerEnergyMotorLookup,
     EnergyMotorLookup,
 )
-from .id_enum import Pol, UndulatorGateStatus
+from .enum import Pol, UndulatorGateStatus
 from .lookup_table_models import (
     EnergyCoverage,
     LookupTable,
     LookupTableColumnConfig,
     convert_csv_to_lookup,
 )
+from .polarisation import InsertionDevicePolarisation
 
 __all__ = [
     "Apple2",
@@ -55,4 +57,6 @@
     "EnergyMotorLookup",
     "ConfigServerEnergyMotorLookup",
     "EnergyMotorConvertor",
+    "UnstoppableMotor",
+    "InsertionDeviceEnergyBase",
 ]