org.lsst.ccs.drivers.aerotech

Class AerotechPro165

java.lang.Object

org.lsst.ccs.drivers.ascii.Ascii

org.lsst.ccs.drivers.aerotech.AerotechPro165

All Implemented Interfaces:

org.lsst.ccs.drivers.commons.DriverConstants

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.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, org.lsst.ccs.drivers.ascii.Ascii.Terminator

Nested classes/interfaces inherited from interface org.lsst.ccs.drivers.commons.DriverConstants

org.lsst.ccs.drivers.commons.DriverConstants.ConnType

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor and Description
AerotechPro165() Constructor.

Method Summary

Modifier and Type	Method and Description
void	abort() abort any AerotechPro165 motion
void	disableAxis(char axis) disable AerotechPro165 axes
void	enableAxis(char axis) enable AerotechPro165 axes
void	fullreset() resets the positioner - communication will be lost
String	getError() Gets the AerotechPro165 errors
double	getPos_x() Deprecated.
double[]	getPos_xyz() Deprecated.
double	getPos_y() Deprecated.
double	getPos_z() Deprecated.
double	getPosX() Gets the AerotechPro165 x position
double[]	getPosXYZ() Gets the AerotechPro165 x,y and z positions
double	getPosY() Gets the AerotechPro165 y position
double	getPosZ() Gets the AerotechPro165 z position
String	getVersion() Gets the AerotechPro165 controller version
void	goHome() move AerotechPro165 to home position
void	moveAbs_x(double dx) Deprecated.
void	moveAbs_y(double dy) Deprecated.
void	moveAbs_z(double dz) Deprecated.
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	moveAbsX(double dx) Move absolutely AerotechPro165 dx
void	moveAbsY(double dy) move absolutely AerotechPro165 dy
void	moveAbsZ(double dz) move absolutely AerotechPro165 dz
void	moveInc_x(double dx) Deprecated.
void	moveInc_y(double dy) Deprecated.
void	moveInc_z(double dz) Deprecated.
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	moveIncX(double dx) move incrementally AerotechPro165 dx
void	moveIncY(double dy) move incrementally AerotechPro165 dy
void	moveIncZ(double dz) move incrementally AerotechPro165 dz
void	open(org.lsst.ccs.drivers.commons.DriverConstants.ConnType type, String ident, int parm1, int parm2) Opens a connection to the device.
void	open(String devname, int baud) Deprecated.
void	openftdi(String serialname, int baud) Deprecated.
void	opennet(String netaddress, int port) Deprecated.
void	openserial(String serialname, int baud) Deprecated.
void	rampMode(String mode) ramp mode AerotechPro165 (units/s2)
void	rampRate(double rate) ramp rate AerotechPro165 (units/s2)
String	readAerotechPro165() Deprecated.
String	readAerotechPro165(String command) Deprecated.
String	readAP(String command) Reads a string after writing a command with error checking.
double	readDoubleAP(String command) Reads a double after writing a command with error checking.
void	reset() resets/clears the AerotechPro165 errors
void	setSpeed(double speed) ramp rate AerotechPro165 (units/s2)
void	setupHome(int mode) Set up AerotechPro165 home parameters
void	softHighLim(String axis, int param) set software high limit on axis motion
void	softLowLim(String axis, int param) set software low limit on axis motion
void	writeAerotechPro165(String command) Deprecated.
void	writeAP(String command) Writes a command with error checking.

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

close, closeSilent, flush, getTimeout, isOpen, makeDataCharacteristics, open, open, openFtdi, openFtdi, openFtdi, openNet, openNet, openSerial, openSerial, openSerial, read, read, readBytes, readBytes, setCommandTerm, setDefaultParm, setMultidrop, setOptions, setResponseTerm, 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

Public constants

DEFAULT_PORT

public static final int DEFAULT_PORT

See Also:

Constant Field Values

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()

Constructor.

Method Detail

open

public void open(org.lsst.ccs.drivers.commons.DriverConstants.ConnType type,
                 String ident,
                 int parm1,
                 int parm2)
          throws org.lsst.ccs.drivers.commons.DriverException

Opens a connection to the device. This overrides the ASCII driver method and so is ultimately called by all the other open methods.

Overrides:

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

Parameters:

type - The enumerated type of connection to make

ident - The device identifier: host name or IP address for network; [node:]serial number for FTDI device; device name for serial

parm1 - The first device parameter: port number for network; baud rate for FTDI or serial

parm2 - The second device parameter: always set to 0

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

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

Deprecated.

Opens a serial connection.

Parameters:

devname - The device name

baud - The baud rate

Throws:

org.lsst.ccs.drivers.commons.DriverException

openserial

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

Deprecated.

Opens a serial connection.

Parameters:

serialname - The device name

baud - The baud rate

Throws:

org.lsst.ccs.drivers.commons.DriverException

openftdi

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

Deprecated.

Opens an FTDI connection.

Parameters:

serialname - The device name

baud - The baud rate

Throws:

org.lsst.ccs.drivers.commons.DriverException

opennet

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

Deprecated.

Opens a Network connection. This is the primary communication method used for this device.

Parameters:

netaddress - The host address

port - The port number

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

fullreset

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

resets the positioner - communication will be lost

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

getPosX

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

Gets the AerotechPro165 x position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_x

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

Deprecated.

Gets the AerotechPro165 x position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosY

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

Gets the AerotechPro165 y position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_y

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

Deprecated.

Gets the AerotechPro165 y position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosZ

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

Gets the AerotechPro165 z position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_z

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

Deprecated.

Gets the AerotechPro165 z position

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPosXYZ

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

Gets the AerotechPro165 x,y and z positions

Returns:

Throws:

org.lsst.ccs.drivers.commons.DriverException

getPos_xyz

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

Deprecated.

Gets the AerotechPro165 x, y & 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

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

goHome

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

move AerotechPro165 to home position

Throws:

org.lsst.ccs.drivers.commons.DriverException

setupHome

public void setupHome(int mode)
               throws org.lsst.ccs.drivers.commons.DriverException

Set up AerotechPro165 home parameters

Parameters:

mode - The mode to set

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)

Parameters:

speed - The ranp speed

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)

Parameters:

rate -

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)

Parameters:

mode -

Throws:

org.lsst.ccs.drivers.commons.DriverException

softLowLim

public void softLowLim(String axis,
                       int param)
                throws org.lsst.ccs.drivers.commons.DriverException

set software low limit on axis motion

Parameters:

axis -

param -

Throws:

org.lsst.ccs.drivers.commons.DriverException

softHighLim

public void softHighLim(String axis,
                        int param)
                 throws org.lsst.ccs.drivers.commons.DriverException

set software high limit on axis motion

Parameters:

axis -

param -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsX

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

Move absolutely AerotechPro165 dx

Parameters:

dx -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_x

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

Deprecated.

Move absolutely AerotechPro165 dx

Parameters:

dx -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsY

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

move absolutely AerotechPro165 dy

Parameters:

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_y

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

Deprecated.

Move absolutely AerotechPro165 dy

Parameters:

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbsZ

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

move absolutely AerotechPro165 dz

Parameters:

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveAbs_z

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

Deprecated.

Move absolutely AerotechPro165 dz

Parameters:

dz -

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

Parameters:

dx -

dy -

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

moveIncX

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

move incrementally AerotechPro165 dx

Parameters:

dx -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_x

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

Deprecated.

move incrementally AerotechPro165 dx

Parameters:

dx -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncY

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

move incrementally AerotechPro165 dy

Parameters:

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_y

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

Deprecated.

move incrementally AerotechPro165 dy

Parameters:

dy -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveIncZ

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

move incrementally AerotechPro165 dz

Parameters:

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

moveInc_z

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

Deprecated.

move incrementally AerotechPro165 dz

Parameters:

dz -

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

Parameters:

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

Parameters:

dx -

dy -

dz -

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeAP

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

Writes a command with error checking.

Parameters:

command - The command to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAP

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

Reads a string after writing a command with error checking.

Parameters:

command - The command to write, excluding terminator

Returns:

The command response string

Throws:

org.lsst.ccs.drivers.commons.DriverException

org.lsst.ccs.drivers.commons.DriverTimeoutException

readDoubleAP

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

Reads a double after writing a command with error checking.

Parameters:

command - The command to write, excluding terminator

Returns:

The double number

Throws:

org.lsst.ccs.drivers.commons.DriverException

writeAerotechPro165

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

Deprecated.

Writes a command.

Parameters:

command - The command to write

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAerotechPro165

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

Deprecated.

Reads a response.

Returns:

The command response string

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAerotechPro165

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

Deprecated.

Reads a response after writing a command.

Parameters:

command - The command to write, excluding terminator

Returns:

The command response string

Throws:

org.lsst.ccs.drivers.commons.DriverException

org.lsst.ccs.drivers.commons.DriverTimeoutException