org.lsst.ccs.drivers.nanotec

Class TestPD4N

java.lang.Object

org.lsst.ccs.drivers.nanotec.TestPD4N

public class TestPD4N
extends Object

Program to test the Nanotex PD4N stepper motor driver

Author:

Al Eisner

Constructor Summary

Constructors

Constructor and Description
TestPD4N() Constructor

Method Summary

Modifier and Type	Method and Description
String	decodeLastError() Read decoded error type(s)
boolean	isChecksumUsed() Is checksum being used?
void	loadMotionRecord(int recordNumber) Load current record from controller's EEPROM
void	move() Start motor and move (according to current record)
void	open(String ident) Opens connection to a device.
void	open(String ident, int baudRate) Open connection to a device with specified baud rate.
String	readAll() Read all settings and data from motor controller.
int	readEncoder() Read motor encoder position
String	readFlags() Read status (ready and position -error), error flag, limit switches
String	readGeneral(NanotecPD4N.CmndGeneral quantity) Generic read command for general quantities
String	readMotion(NanotecPD4N.CmndMotion quantity) Generic read command for motion-record quantities
String	readMotionRecord() Read all motion-record settings from motor controller Loops over all read commands and returns them in a table format.
String	readTemperature() Read motor controller temperature, converting raw reading to degrees C
String	readTempRepeat(int nRepeat) Repeat read of motor controller temperature n times
void	resetError() Reset error flags
void	saveMotionRecord(int recordNumber) Save current motion record to controller's EEPROM
void	setBaudRate(org.lsst.ccs.drivers.nanotec.NanotecPD4N.DataRate value) Select baud rate, 110 to 1115200 (default) For emergency use: "open" must be called with value set in controller, then this command can change rate to desired value.
void	setDebug(boolean enable) Enable/disable debug printout from driver
void	setGeneral(NanotecPD4N.CmndGeneral param, int value) Generic set command for a general parameter
void	setLimitSwitchBehavior(boolean choice) Set motor behavior upon reaching an external limit switch
void	setMotion(NanotecPD4N.CmndMotion param, int value) Generic set command for a parameter in motion-record
String	showLimitSwitchBehavior() Show behavior of motor upon reaching a limit switch
void	stop() Stop motor (if currently moving), using current brake ramp value
void	stopQ() Stop motor (if currently moving), using quickstop ramp
String	timestamp() Determines current time
void	useChecksum(boolean setting) Turn on/of usage of CRC checksum

Methods inherited from class java.lang.Object

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

Constructor Detail

TestPD4N

public TestPD4N()

Constructor

Method Detail

timestamp

@Command(name="timestamp",
         description="Prints current time")
public String timestamp()

Determines current time

Returns:

current time as a String

open

@Command(name="open",
         description="Open connection to device")
public void open(@Argument(name="ident",description="Identification")
                                                                                         String ident)
                                                                                  throws org.lsst.ccs.drivers.commons.DriverException

Opens connection to a device.

Parameters:

String - ident Identification (serial port name)

Throws:

org.lsst.ccs.drivers.commons.DriverException

open

@Command(name="open",
         description="Open connection with specified baud rate")
public void open(@Argument(name="ident",description="Identification")
                                                                                                        String ident,
                                                                                                        @Argument(name="baudRate",description="must match NanotecPD4N.DataRate enumeration")
                                                                                                        int baudRate)
                                                                                                 throws org.lsst.ccs.drivers.commons.DriverException

Open connection to a device with specified baud rate.

Parameters:

String - ident Identification (serial port name)

int - baudRate Must match NanotecPD4N.DataRate enumeration

Throws:

org.lsst.ccs.drivers.commons.DriverException

readAll

@Command(name="readAll",
         description="Read all controller settings and data")
public String readAll()

Read all settings and data from motor controller. Loops over all read commands and returns them in a table format. All DriverExceptions are caught; if one occurs, the data field is replaced by the text (String) associated with the exception.

Returns:

String reporting all data read and exceptions.

isChecksumUsed

@Command(name="isChecksumUsed",
         description="<true|false> if checksum is <in use | not in use>")
public boolean isChecksumUsed()

Is checksum being used?

Returns:

boolean if checksum is

readMotionRecord

@Command(name="readMotionRecord",
         description="Read all motion-record settings")
public String readMotionRecord()

Read all motion-record settings from motor controller Loops over all read commands and returns them in a table format. All DriverExceptions are caught; if one occurs, the data field is replaced by the text (String) associated with the exception.

Returns:

String reporting all data read and exceptions.

readGeneral

@Command(name="readGeneral",
         description="Read specified general quantity")
public String readGeneral(@Argument(name="enum quantity",description="name of general quantity")
                                                                                                               NanotecPD4N.CmndGeneral quantity)
                                                                                                        throws org.lsst.ccs.drivers.commons.DriverException

Generic read command for general quantities

Parameters:

CmndGeneral - Enumerated command name

Returns:

String response

Throws:

org.lsst.ccs.drivers.commons.DriverException

setGeneral

@Command(name="setGeneral",
         description="set a general parameter")
public void setGeneral(@Argument(name="enum quantity",description="CmndGeneral instance")
                                                                                                   NanotecPD4N.CmndGeneral param,
                                                                                                   @Argument(name="value",description="value to be set")
                                                                                                   int value)
                                                                                            throws org.lsst.ccs.drivers.commons.DriverException

Generic set command for a general parameter

Parameters:

CmndGeneral - Enumerated command name

int - value to be set

Throws:

org.lsst.ccs.drivers.commons.DriverException

setLimitSwitchBehavior

@Command(name="setLimitSwitchBehavior",
         description="select behavior when motor reaches limit switch")
public void setLimitSwitchBehavior(@Argument(name="boolean choice",description="<true|false> for <free backward motion|stop>")
                                                                                                                                                   boolean choice)
                                                                                                                                            throws org.lsst.ccs.drivers.commons.DriverException

Set motor behavior upon reaching an external limit switch

Parameters:

boolean - for

Throws:

org.lsst.ccs.drivers.commons.DriverException

showLimitSwitchBehavior

@Command(name="showLimitSwitchBehavior",
         description="show motor behavior upon reaching a limit switch")
public String showLimitSwitchBehavior()
                                                                                                                                                 throws org.lsst.ccs.drivers.commons.DriverException

Show behavior of motor upon reaching a limit switch

Returns:

String corresponds to enumerated behavior

Throws:

org.lsst.ccs.drivers.commons.DriverException

readEncoder

@Command(name="readEncoder",
         description="Read motor encoder position")
public int readEncoder()
                                                                                                 throws org.lsst.ccs.drivers.commons.DriverException

Read motor encoder position

Returns:

int position

Throws:

org.lsst.ccs.drivers.commons.DriverException

readTemperature

@Command(name="readTemperature",
         description="Read motor temperature in degrees C")
public String readTemperature()
                                                                                                                    throws org.lsst.ccs.drivers.commons.DriverException

Read motor controller temperature, converting raw reading to degrees C

Returns:

String showing pump temperature in degrees C

Throws:

Driver - Exception

org.lsst.ccs.drivers.commons.DriverException

readTempRepeat

@Command(name="readTempRepeat",
         description="Read motor T multiple times")
public String readTempRepeat(@Argument(name="repeats",description="number of times")
                                                                                                                 int nRepeat)
                                                                                                          throws org.lsst.ccs.drivers.commons.DriverException

Repeat read of motor controller temperature n times

Parameters:

Number - of times to repeat reading

Returns:

Formatted String containing all read results

Throws:

org.lsst.ccs.drivers.commons.DriverException

readFlags

@Command(name="readFlags",
         description="Read useful status flags and error flag")
public String readFlags()
                                                                                                            throws org.lsst.ccs.drivers.commons.DriverException

Read status (ready and position -error), error flag, limit switches

Returns:

String showing flags

Throws:

Driver - Exception

org.lsst.ccs.drivers.commons.DriverException

decodeLastError

@Command(name="decodeLastError",
         description="Decode last error types")
public String decodeLastError()
                                                                                                        throws org.lsst.ccs.drivers.commons.DriverException

Read decoded error type(s)

Returns:

String showing all error types set (or none)

Throws:

Driver - Exception

org.lsst.ccs.drivers.commons.DriverException

resetError

@Command(name="resetError",
         description="Reset controller error flags")
public void resetError()
                                                                                                 throws org.lsst.ccs.drivers.commons.DriverException

Reset error flags

Throws:

org.lsst.ccs.drivers.commons.DriverException

readMotion

@Command(name="readMotion",
         description="Read specified motion quantity")
public String readMotion(@Argument(name="enum quantity",description="name of motion quantity")
                                                                                                            NanotecPD4N.CmndMotion quantity)
                                                                                                     throws org.lsst.ccs.drivers.commons.DriverException

Generic read command for motion-record quantities

Parameters:

CmndMotion - Enumerated command name

Returns:

String response

Throws:

org.lsst.ccs.drivers.commons.DriverException

setMotion

@Command(name="setMotion",
         description="set a motion-record parameter")
public void setMotion(@Argument(name="enum quantity",description="CmndMotion instance")
                                                                                                       NanotecPD4N.CmndMotion param,
                                                                                                       @Argument(name="value",description="value to be set")
                                                                                                       int value)
                                                                                                throws org.lsst.ccs.drivers.commons.DriverException

Generic set command for a parameter in motion-record

Parameters:

CmndMotion - Enumerated command name

int - value to be set

Throws:

org.lsst.ccs.drivers.commons.DriverException

saveMotionRecord

@Command(name="saveMotionRecord",
         description="save current motion record")
public void saveMotionRecord(@Argument(name="recordNumber",description="location in EEPROM (1 to 32)")
                                                                                                                  int recordNumber)
                                                                                                           throws org.lsst.ccs.drivers.commons.DriverException

Save current motion record to controller's EEPROM

Parameters:

int - recordNumber (memory location, 1 to 32)

Throws:

org.lsst.ccs.drivers.commons.DriverException

loadMotionRecord

@Command(name="loadMotionRecord",
         description="load motion record from EEPROM")
public void loadMotionRecord(@Argument(name="recordNumber",description="location in EEPROM (1 to 32)")
                                                                                                                      int recordNumber)
                                                                                                               throws org.lsst.ccs.drivers.commons.DriverException

Load current record from controller's EEPROM

Parameters:

int - recordNumber (memory location, 1 to 32)

Throws:

org.lsst.ccs.drivers.commons.DriverException

move

@Command(name="move",
         description="Start motor and move")
public void move()
                                                                             throws org.lsst.ccs.drivers.commons.DriverException

Start motor and move (according to current record)

Throws:

org.lsst.ccs.drivers.commons.DriverException

stop

@Command(name="stop",
         description="stop motor, using current brake ramp")
public void stop()
                                                                                             throws org.lsst.ccs.drivers.commons.DriverException

Stop motor (if currently moving), using current brake ramp value

Throws:

org.lsst.ccs.drivers.commons.DriverException

stopQ

@Command(name="stopQuick",
         description="stop motor, using quickstop ramp")
public void stopQ()
                                                                                               throws org.lsst.ccs.drivers.commons.DriverException

Stop motor (if currently moving), using quickstop ramp

Throws:

org.lsst.ccs.drivers.commons.DriverException

setBaudRate

@Command(name="setBaudRate",
         description="Select baud rate")
public void setBaudRate(@Argument(name="<DataRate>",description="enumerated value, BAUD_110 to BAUD_115200 (default)")
                                                                                              org.lsst.ccs.drivers.nanotec.NanotecPD4N.DataRate value)
                                                                                       throws org.lsst.ccs.drivers.commons.DriverException

Select baud rate, 110 to 1115200 (default) For emergency use: "open" must be called with value set in controller, then this command can change rate to desired value.

Parameters:

DataRate - Enumerated value

Throws:

org.lsst.ccs.drivers.commons.DriverException

useChecksum

@Command(name="useChecksum",
         description="set usage of CRC checksum")
public void useChecksum(@Argument(name="boolean setting",description="<true|false> to <use | not use>")
                                                                                                       boolean setting)
                                                                                                throws org.lsst.ccs.drivers.commons.DriverException

Turn on/of usage of CRC checksum

Parameters:

boolean - for checksum

Throws:

org.lsst.ccs.drivers.commons.DriverException

setDebug

@Command(name="setDebug",
         description="enable/disable debug printout")
public void setDebug(@Argument(name="enable",description="setting")
                                                                                                     boolean enable)

Enable/disable debug printout from driver

Parameters:

boolean - value to set