AxisSingle (LSST CCS - Parker Motor Driver 2.2 API)

java.lang.Object
- java.lang.Enum<AxisSingle>
- - org.lsst.ccs.drivers.parker.AxisSingle

All Implemented Interfaces:

Serializable, Comparable<AxisSingle>
```
public enum AxisSingle
extends Enum<AxisSingle>
```
Defines names and numbers for some axis parameters that are of type FP32.

Author:

tether

Enum Constant Summary

Enum Constants
Enum Constant and Description
`ACTUAL_TORQUE` The current value of the actual motor torque (volts).
`BUS_VOLTAGE` The motor driver bus voltage.
`COMMANDED_CURRENT` The current value of drive current commanded by the controller.
`COMMANDED_TORQUE` The current value of drive torque commanded by the controller (volts).
`DERIVATIVE_GAIN` Motor drive feedback gain, derivative term (dimensionless).
`DRIVE_TEMPERATURE` The current reading of the motor drive temperature.
`INTEGRAL_GAIN` Motor drive feedback gain, integral term (dimensionless).
`JOG_ACCELERATION_SETTING` Acceleration for the next jog motion (user units/sec/sec).
`JOG_DECELERATION_SETTING` Deceleration for the next jog motion (user units/sec/sec).
`JOG_JERK_SETTING` The rate of ramp up and ramp down of acceleration and deceleration for the next jog motion (user units/sec^3).
`JOG_VELOCITY_SETTING` Maximum velocity for the next jog motion (user units/sec).
`MINUS_EXCESS_ERROR` Excess error band negative limit.
`NEGATIVE_TORQUE_LIMIT` Motor drive torque limit for motion in the negative direction.
`PLUS_EXCESS_ERROR` Excess error band (EXC) positive limit.
`POSITIVE_TORQUE_LIMIT` Motor drive torque limit for motion in the positive direction.
`PROPORTIONAL_GAIN` Motor drive feedback gain, proportional term (dimensionless).
`PULSES_PER_UNIT` The number of encoder counts per user unit of distance.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`int`	`index(AxisName axis)` Gets the controller's index for this parameter for a given axis.
`String`	`reference(AxisName axis)` Gets the AcroBasic string reference for this parameter for a given axis.
`static AxisSingle`	`valueOf(String name)` Returns the enum constant of this type with the specified name.
`static AxisSingle[]`	`values()` Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum
clone, compareTo, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object
getClass, notify, notifyAll, wait, wait, wait

- Enum Constant Detail
  - PROPORTIONAL_GAIN
```
public static final AxisSingle PROPORTIONAL_GAIN
```
    Motor drive feedback gain, proportional term (dimensionless).
  - INTEGRAL_GAIN
```
public static final AxisSingle INTEGRAL_GAIN
```
    Motor drive feedback gain, integral term (dimensionless).
  - DERIVATIVE_GAIN
```
public static final AxisSingle DERIVATIVE_GAIN
```
    Motor drive feedback gain, derivative term (dimensionless).
  - PLUS_EXCESS_ERROR
```
public static final AxisSingle PLUS_EXCESS_ERROR
```
    Excess error band (EXC) positive limit.
  - MINUS_EXCESS_ERROR
```
public static final AxisSingle MINUS_EXCESS_ERROR
```
    Excess error band negative limit.
  - POSITIVE_TORQUE_LIMIT
```
public static final AxisSingle POSITIVE_TORQUE_LIMIT
```
    Motor drive torque limit for motion in the positive direction.
  - NEGATIVE_TORQUE_LIMIT
```
public static final AxisSingle NEGATIVE_TORQUE_LIMIT
```
    Motor drive torque limit for motion in the negative direction.
  - JOG_VELOCITY_SETTING
```
public static final AxisSingle JOG_VELOCITY_SETTING
```
    Maximum velocity for the next jog motion (user units/sec).
  - JOG_ACCELERATION_SETTING
```
public static final AxisSingle JOG_ACCELERATION_SETTING
```
    Acceleration for the next jog motion (user units/sec/sec). For a trapezoidal velocity profile this is the constant acceleration used at the beginning of the motion. For S-curve motion the acceleration will ramp from zero up to this value then ramp back down to zero.
  - JOG_DECELERATION_SETTING
```
public static final AxisSingle JOG_DECELERATION_SETTING
```
    Deceleration for the next jog motion (user units/sec/sec). For a trapezoidal velocity profile this is the constant deceleration used at the end of the motion. For S-curve motion the deceleration will ramp from zero up to this value then ramp back down to zero.
  - JOG_JERK_SETTING
```
public static final AxisSingle JOG_JERK_SETTING
```
    The rate of ramp up and ramp down of acceleration and deceleration for the next jog motion (user units/sec^3). Always zero for a trapezoidal velocity profile and a positive value for S-curve motion.
  - PULSES_PER_UNIT
```
public static final AxisSingle PULSES_PER_UNIT
```
    The number of encoder counts per user unit of distance. Doesn't need to be a whole number and must be positive.
  - COMMANDED_CURRENT
```
public static final AxisSingle COMMANDED_CURRENT
```
    The current value of drive current commanded by the controller. Must be updated via Drive Talk on ACR9000.
  - COMMANDED_TORQUE
```
public static final AxisSingle COMMANDED_TORQUE
```
    The current value of drive torque commanded by the controller (volts). Must be updated via Drive Talk on ACR9000.
  - ACTUAL_TORQUE
```
public static final AxisSingle ACTUAL_TORQUE
```
    The current value of the actual motor torque (volts). Must be updated via Drive Talk on ACR9000.
  - DRIVE_TEMPERATURE
```
public static final AxisSingle DRIVE_TEMPERATURE
```
    The current reading of the motor drive temperature. Must be updated via Drive Talk on ACR9000.
  - BUS_VOLTAGE
```
public static final AxisSingle BUS_VOLTAGE
```
    The motor driver bus voltage. Must be updated via Drive Talk on ACR9000.
- Method Detail
  - values
```
public static AxisSingle[] values()
```
    Returns an array containing the constants of this enum type, in the order they are declared. This method may be used to iterate over the constants as follows:
```
for (AxisSingle c : AxisSingle.values())
    System.out.println(c);
```
    Returns:
    
    an array containing the constants of this enum type, in the order they are declared
  - valueOf
```
public static AxisSingle valueOf(String name)
```
    Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)
    
    Parameters:
    
    name - the name of the enum constant to be returned.
    
    Returns:
    
    the enum constant with the specified name
    
    Throws:
    
    IllegalArgumentException - if this enum type has no constant with the specified name
    
    NullPointerException - if the argument is null
  - index
```
public int index(AxisName axis)
```
    Gets the controller's index for this parameter for a given axis.
    
    Parameters:
    
    axis - the axis.
    
    Returns:
    
    the index.
  - reference
```
public String reference(AxisName axis)
```
    Gets the AcroBasic string reference for this parameter for a given axis.
    
    Parameters:
    
    axis - the axis.
    
    Returns:
    
    the reference string.

Enum AxisSingle

Enum Constant Summary

Method Summary

Methods inherited from class java.lang.Enum

Methods inherited from class java.lang.Object

Enum Constant Detail

PROPORTIONAL_GAIN

INTEGRAL_GAIN

DERIVATIVE_GAIN

PLUS_EXCESS_ERROR

MINUS_EXCESS_ERROR

POSITIVE_TORQUE_LIMIT

NEGATIVE_TORQUE_LIMIT

JOG_VELOCITY_SETTING

JOG_ACCELERATION_SETTING

JOG_DECELERATION_SETTING

JOG_JERK_SETTING

PULSES_PER_UNIT

COMMANDED_CURRENT

COMMANDED_TORQUE

ACTUAL_TORQUE

DRIVE_TEMPERATURE

BUS_VOLTAGE

Method Detail

values

valueOf

index

reference