org.lsst.ccs.subsystem.cablerotator

Class Controller

java.lang.Object

org.lsst.ccs.subsystem.cablerotator.Controller

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

public class Controller
extends Object
implements org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.HardwareController, org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

Communicates with the Aerotech motor controller, publishes status and configuration.

Author:

tether

Constructor Summary

Constructors

Constructor and Description
Controller()

Method Summary

Modifier and Type	Method and Description
void	build()
void	changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable cmd)
org.lsst.ccs.framework.TreeWalkerDiag	checkHardware()
void	clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults cmd)
void	clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults cmd)
void	disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes cmd)
void	enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes cmd)
void	homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis cmd)
void	moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute cmd)
void	moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative cmd)
void	sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)
void	sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)
void	sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)
void	stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion cmd)
void	updateStatus()

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle

init, postBuild, postInit, postShutdown, postStart, shutdown, start

Methods inherited from interface org.lsst.ccs.framework.HardwareController

checkStopped

Methods inherited from interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

changeOutputLine, clearCapture, setupCapture

Constructor Detail

Controller

public Controller()

Method Detail

build

public void build()

Specified by:

build in interface org.lsst.ccs.framework.HasLifecycle

checkHardware

public org.lsst.ccs.framework.TreeWalkerDiag checkHardware()
                                                    throws org.lsst.ccs.HardwareException

Specified by:

checkHardware in interface org.lsst.ccs.framework.HardwareController

Throws:

org.lsst.ccs.HardwareException

stopAllMotion

public void stopAllMotion(org.lsst.ccs.subsystem.motorplatform.bus.StopAllMotion cmd)

Specified by:

stopAllMotion in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendControllerStatus

public void sendControllerStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendControllerStatus cmd)

Specified by:

sendControllerStatus in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendConfiguration

public void sendConfiguration(org.lsst.ccs.subsystem.motorplatform.bus.SendConfiguration cmd)

Specified by:

sendConfiguration in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

sendAxisStatus

public void sendAxisStatus(org.lsst.ccs.subsystem.motorplatform.bus.SendAxisStatus cmd)

Specified by:

sendAxisStatus in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

homeAxis

public void homeAxis(org.lsst.ccs.subsystem.motorplatform.bus.HomeAxis cmd)

Specified by:

homeAxis in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

moveAxisAbsolute

public void moveAxisAbsolute(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisAbsolute cmd)

Specified by:

moveAxisAbsolute in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

moveAxisRelative

public void moveAxisRelative(org.lsst.ccs.subsystem.motorplatform.bus.MoveAxisRelative cmd)

Specified by:

moveAxisRelative in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

disableAllAxes

public void disableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.DisableAllAxes cmd)

Specified by:

disableAllAxes in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

enableAllAxes

public void enableAllAxes(org.lsst.ccs.subsystem.motorplatform.bus.EnableAllAxes cmd)

Specified by:

enableAllAxes in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

clearAxisFaults

public void clearAxisFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAxisFaults cmd)

Specified by:

clearAxisFaults in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

clearAllFaults

public void clearAllFaults(org.lsst.ccs.subsystem.motorplatform.bus.ClearAllFaults cmd)

Specified by:

clearAllFaults in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

changeAxisEnable

public void changeAxisEnable(org.lsst.ccs.subsystem.motorplatform.bus.ChangeAxisEnable cmd)

Specified by:

changeAxisEnable in interface org.lsst.ccs.subsystem.motorplatform.bus.MotorCommandListener

updateStatus

public void updateStatus()