org.lsst.ccs.drivers.aerotech

Class AerotechPro165

java.lang.Object

org.lsst.ccs.drivers.ascii.Ascii

org.lsst.ccs.drivers.aerotech.AerotechPro165

public class AerotechPro165
extends org.lsst.ccs.drivers.ascii.Ascii

General access routines for the AerotechPro165 device

Author:

Homer Neal * **************************************************************************

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.drivers.ascii.Ascii

org.lsst.ccs.drivers.ascii.Ascii.ConnType, org.lsst.ccs.drivers.ascii.Ascii.DataBits, org.lsst.ccs.drivers.ascii.Ascii.FlowCtrl, org.lsst.ccs.drivers.ascii.Ascii.Option, org.lsst.ccs.drivers.ascii.Ascii.Parity, org.lsst.ccs.drivers.ascii.Ascii.StopBits

Field Summary

Fields

Modifier and Type	Field and Description
static int	DEFAULT_BAUD
static String	DEFAULT_DEV
static double	timeout

Fields inherited from class org.lsst.ccs.drivers.ascii.Ascii

CONN_TYPE_FTDI, CONN_TYPE_NETWORK, CONN_TYPE_SERIAL

Constructor Summary

Constructors

Constructor and Description
AerotechPro165() Constructor * * **************************************************************************

Method Summary

Modifier and Type	Method and Description
void	abort() abort any AerotechPro165 motion
void	close() Closes the connection.
void	disableAxis(char axis) disable AerotechPro165 axes * ********************************************************************
void	enableAxis(char axis) enable AerotechPro165 axes * ********************************************************************
String	getError() Gets the AerotechPro165 errors
double	getPos_x() Gets the AerotechPro165 x position
double[]	getPos_xyz() Gets the AerotechPro165 x,y and z positions
double	getPos_y() Gets the AerotechPro165 x position
double	getPos_z() Gets the AerotechPro165 z position
String	getVersion() Gets the AerotechPro165 controller version
void	goHome() move AerotechPro165 to home position* **************************************************************************
void	moveAbs_x(double dx) move absolutely AerotechPro165 dx * **************************************************************************
void	moveAbs_y(double dy) move absolutely AerotechPro165 dy * **************************************************************************
void	moveAbs_z(double dz) move absolutely AerotechPro165 dz * **************************************************************************
void	moveAbs(double dx, double dy) move absolutely AerotechPro165 dx, dy * **************************************************************************
void	moveAbs(double dx, double dy, double dz) move absolutely AerotechPro165 dx, dy, dz * **************************************************************************
void	moveInc_x(double dx) move incrementally AerotechPro165 dx * **************************************************************************
void	moveInc_y(double dy) move incrementally AerotechPro165 dy * **************************************************************************
void	moveInc_z(double dz) move incrementally AerotechPro165 dz * **************************************************************************
void	moveInc(double dx, double dy) move incrementally AerotechPro165 dx, dy * **************************************************************************
void	moveInc(double dx, double dy, double dz) move incrementally AerotechPro165 dx, dy, dz * **************************************************************************
void	open(String devname, int port)
void	openftdi(String serialname, int port) Opens an FTDI connection.
void	opennet(String netaddress, int port) Opens a Network connection.
void	openserial(String serialname, int port) Opens a serial connection.
void	rampMode(String mode) ramp mode AerotechPro165 (units/s2) * **************************************************************************
void	rampRate(double rate) ramp rate AerotechPro165 (units/s2) * **************************************************************************
String	readAerotechPro165() Reads a response.
String	readAerotechPro165(String command) Reads a response after writing a command.
void	reset() resets/clears the AerotechPro165 errors
void	setSpeed(double speed) ramp rate AerotechPro165 (units/s2) * **************************************************************************
void	writeAerotechPro165(String command) Writes a command.

Methods inherited from class org.lsst.ccs.drivers.ascii.Ascii

closeSilent, flush, makeDataCharacteristics, open, open, open, open, read, read, readBytes, readBytes, setTerminator, setTimeout, setTimeout, write, writeBytes, writeBytes

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

timeout

public static double timeout

DEFAULT_BAUD

public static final int DEFAULT_BAUD

See Also:

Constant Field Values

DEFAULT_DEV

public static final String DEFAULT_DEV

See Also:

Constant Field Values

Constructor Detail

AerotechPro165

public AerotechPro165()
               throws org.lsst.ccs.drivers.commons.DriverException

Constructor * * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

Method Detail

open

public void open(String devname,
                 int port)
          throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

openserial

public void openserial(String serialname,
                       int port)
                throws org.lsst.ccs.drivers.commons.DriverException

Opens a serial connection. * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

openftdi

public void openftdi(String serialname,
                     int port)
              throws org.lsst.ccs.drivers.commons.DriverException

Opens an FTDI connection. * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

opennet

public void opennet(String netaddress,
                    int port)
             throws org.lsst.ccs.drivers.commons.DriverException

Opens a Network connection. (this is the primary communications used for this device) Example: ./talkAscii.sh -t lf 130.199.47.180 8000 Connected. Type CTRL-D to exit, CR for read stats. VERSION %5.01.002 AXISSTATUS X %-1993863168 ENABLE X % ENABLE Y % MOVEINC X 2 Y 2 % **************************************************************************

Parameters:

netaddress -

port -

Throws:

org.lsst.ccs.drivers.commons.DriverException

close

public void close()
           throws org.lsst.ccs.drivers.commons.DriverException

Closes the connection. * * @throws DriverException

Overrides:

close in class org.lsst.ccs.drivers.ascii.Ascii

Throws:

org.lsst.ccs.drivers.commons.DriverException - *************************************************************************

getVersion

public String getVersion()
                  throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 controller version

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

getError

public String getError()
                throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 errors

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

reset

public void reset()
           throws org.lsst.ccs.drivers.commons.DriverException

resets/clears the AerotechPro165 errors

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

abort

public void abort()
           throws org.lsst.ccs.drivers.commons.DriverException

abort any AerotechPro165 motion

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

getPos_x

public double getPos_x()
                throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 x position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

getPos_y

public double getPos_y()
                throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 x position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

getPos_z

public double getPos_z()
                throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 z position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

getPos_xyz

public double[] getPos_xyz()
                    throws org.lsst.ccs.drivers.commons.DriverException

Gets the AerotechPro165 x,y and z positions

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException - **************************************************************************

enableAxis

public void enableAxis(char axis)
                throws org.lsst.ccs.drivers.commons.DriverException

enable AerotechPro165 axes * ********************************************************************

Parameters:

axis - ***** @throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

disableAxis

public void disableAxis(char axis)
                 throws org.lsst.ccs.drivers.commons.DriverException

disable AerotechPro165 axes * ********************************************************************

Parameters:

axis - ***** @throws org.lsst.ccs.drivers.commons.DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs

public void moveAbs(double dx,
                    double dy,
                    double dz)
             throws org.lsst.ccs.drivers.commons.DriverException

move absolutely AerotechPro165 dx, dy, dz * **************************************************************************

Parameters:

dx -

dy -

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

goHome

public void goHome()
            throws org.lsst.ccs.drivers.commons.DriverException

move AerotechPro165 to home position* **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

setSpeed

public void setSpeed(double speed)
              throws org.lsst.ccs.drivers.commons.DriverException

ramp rate AerotechPro165 (units/s2) * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

rampRate

public void rampRate(double rate)
              throws org.lsst.ccs.drivers.commons.DriverException

ramp rate AerotechPro165 (units/s2) * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

rampMode

public void rampMode(String mode)
              throws org.lsst.ccs.drivers.commons.DriverException

ramp mode AerotechPro165 (units/s2) * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_x

public void moveAbs_x(double dx)
               throws org.lsst.ccs.drivers.commons.DriverException

move absolutely AerotechPro165 dx * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_z

public void moveAbs_z(double dz)
               throws org.lsst.ccs.drivers.commons.DriverException

move absolutely AerotechPro165 dz * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_y

public void moveAbs_y(double dy)
               throws org.lsst.ccs.drivers.commons.DriverException

move absolutely AerotechPro165 dy * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs

public void moveAbs(double dx,
                    double dy)
             throws org.lsst.ccs.drivers.commons.DriverException

move absolutely AerotechPro165 dx, dy * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc

public void moveInc(double dx,
                    double dy,
                    double dz)
             throws org.lsst.ccs.drivers.commons.DriverException

move incrementally AerotechPro165 dx, dy, dz * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_x

public void moveInc_x(double dx)
               throws org.lsst.ccs.drivers.commons.DriverException

move incrementally AerotechPro165 dx * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_z

public void moveInc_z(double dz)
               throws org.lsst.ccs.drivers.commons.DriverException

move incrementally AerotechPro165 dz * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_y

public void moveInc_y(double dy)
               throws org.lsst.ccs.drivers.commons.DriverException

move incrementally AerotechPro165 dy * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc

public void moveInc(double dx,
                    double dy)
             throws org.lsst.ccs.drivers.commons.DriverException

move incrementally AerotechPro165 dx, dy * **************************************************************************

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeAerotechPro165

public void writeAerotechPro165(String command)
                         throws org.lsst.ccs.drivers.commons.DriverException

Writes a command.

Parameters:

The - command to write

Throws:

org.lsst.ccs.drivers.commons.DriverException - * *************************************************************************

readAerotechPro165

public String readAerotechPro165()
                          throws org.lsst.ccs.drivers.commons.DriverException

Reads a response.

Returns:

The command response string

Throws:

org.lsst.ccs.drivers.commons.DriverException - *************************************************************************

readAerotechPro165

public String readAerotechPro165(String command)
                          throws org.lsst.ccs.drivers.commons.DriverException

Reads a response after writing a command. * * @param command The command to write, excluding terminator * * @return The command response string * * @throws DriverException

Throws:

org.lsst.ccs.drivers.commons.DriverTimeoutException - * *************************************************************************

org.lsst.ccs.drivers.commons.DriverException