public class CanOpenEPOS extends CanOpenDevice implements EPOSController
| Modifier and Type | Field and Description |
|---|---|
protected EPOSEnumerations.EposMode |
mode |
booted, bridge, initialized, nodeID, serialNB, tcpProxy| Constructor and Description |
|---|
CanOpenEPOS(String aName,
int aTickMillis,
String nodeID,
String serialNB,
Map<String,Integer> paramsForCurrent,
Map<String,Integer> paramsForProfilePosition,
Map<String,Integer> paramsForHoming)
Construction of a CanOpenEPOS.
|
| Modifier and Type | Method and Description |
|---|---|
void |
activateBrake()
A holding brake can be associated to a Controller.
|
void |
activateCurrentMode() |
void |
activateHomingMode() |
void |
activateProfilePositionMode() |
String |
changeMode(EPOSEnumerations.EposMode newMode)
This methods changes the mode to the new mode given as an argument.
|
String |
changeMode(String modeInString)
Changes the mode to the new mode given as a String argument.
|
void |
checkFault()
Check if the Controller is in fault.
|
void |
checkParameters(EPOSEnumerations.EposMode aMode) |
void |
checkParameters(Map<String,Integer> paramsMap)
Compare values of parameters in the map with the values of parameters in
the controller CPU.
|
void |
checkParameters(String modeInString)
For every parameter to be defined for this mode this method compares the
values in configuration with the value stored in controller CPU and
throws a HardwareException if these values are not equal.
|
boolean |
checkTargetReached()
In HOMING mode and PROFILE_POSITION mode this indicates that the position
is reached.
|
static int |
convertToInteger16(int unsigned16)
Change an int represented by an UNSIGNED16 to an INTEGER16.
|
void |
defineAbsolutePosition(int position)
Defines the actual position as the absolute position which value is given
as an argument.
|
void |
disable() |
static String |
displayListParameters()
Displays the list of parameters.
|
static String |
displayListParameters(String modeInString)
Displays the list of parameters that we have to define for a given mode.
|
String |
displayMotorParameters()
Read the values of the motor parameters and displays them for the end
user.
|
String |
enable()
This methods enables the controller : i.e.
|
void |
faultReset() |
String[] |
getErrorHistory()
For the GUI
|
String |
getErrorRegister()
For the GUI
|
int |
getMaxCurrent() |
int |
getMaxPosition() |
int |
getMaxSpeed() |
int |
getMinCurrent() |
int |
getMinPosition() |
String |
getModeInString() |
int |
getMotorParameterValue(String parameterName)
Return the value configured for a motor parameter.
|
Map<String,Integer> |
getParamsForCurrent() |
Map<String,Integer> |
getParamsForHoming() |
Map<String,Integer> |
getParamsForProfilePosition() |
StatusDataPublishedByEPOSController |
getStatusData() |
String |
initializeAndCheckHardware()
This methods has to be overridden if there is some initialization to do
for the device.
|
void |
initModule() |
boolean |
isEnabled() |
boolean |
isEnabledToPublish() |
boolean |
isInError()
For the GUI
|
boolean |
isParametersOK()
This methods returns true if the values of parameters stored in CPU are
the same than those stored in the configuration system.
|
boolean |
isTargetPositionReached(int position) |
boolean |
isTurnedOff() |
static void |
main(String[] args) |
String |
off() |
String |
printConfigurationParameters(String modeInString)
Print the configured parameters for this EPOS for a mode name given in
argument.
|
String |
printMode() |
String |
printParameters()
Print the configured parameters for this EPOS for a mode name given in
argument.
|
String |
printParameters(Map<String,Integer> paramMap) |
void |
processUpdate(Observable source,
org.lsst.ccs.framework.Module.ValueUpdate v)
What to do when the Modules we observe send there new values.
|
void |
publishData()
Publish Data on status bus for trending data base and GUIs.
|
void |
quickStop() |
String |
readControlWord()
Read the control world (index=6040, subindex=0,size=2)
|
int |
readCurrent()
In Current Mode this methods returns the current actualy received by the
motor.
|
int |
readCurrentAverageValue()
In Current Mode this methods returns the average of the current received
by the motor.
|
EPOSEnumerations.EposMode |
readMode()
Reads the EPOS mode in the CPU of the EPOS device, updates the field mode
and returns the mode as a String.
|
int |
readParameter(EPOSEnumerations.Parameter param)
Reads in the EPOS CPU the value of the Parameter.
|
int |
readParameter(String parameterName)
Reads in the EPOS CPU the value of the Parameter which parameter name is
given as argument.
|
String |
readParameterInHexa(EPOSEnumerations.Parameter param)
Reads in the EPOS CPU the value of the Parameter.
|
String |
readParameterInHexa(String parameterName)
Reads in the EPOS CPU the hexadecimal value of the Parameter.
|
String |
readParameters() |
String |
readParameters(EPOSEnumerations.EposMode aMode) |
String |
readParameters(String modeInString)
This methods reads in the CPU of the EPOS the values of the parameters
for a given mode.
|
int |
readPosition()
Reads in the CPU the value of the parameter PositionActualValue and
returns it in a decimal format.
|
int |
readProfileVelocity()
In PROFILE_POSITION returns the value of the parameter ProfileVelocity.
|
int |
readSSIPosition()
Read the position returned by the absolute encoder (single serial data).
|
String |
readStatusWord()
Read the status world (index=6041, subindex=0,size=2)
|
void |
releaseBrake()
A holding brake can be associated to a Controller.
|
Object |
restoreParameters()
Restore default parameters.
|
String |
setHomePosition(int position)
Set the Home Position with the value given as argument in decimal format.
|
String |
setHomingMethodActual()
Writes value 35 in hexa to set the Homing method as Actual (See EPOS
documentation)
|
void |
setParametersOK(boolean parametersOK) |
String |
shutdown()
Shutdown the controller.
|
void |
startHoming()
Starts homing : (See EPOS documentation) For engineering mode.
|
void |
stopCurrent()
In current mode this methods set to zero the value of the current sent to
the motor.
|
void |
switchOnEnableOperation() |
void |
writeControlWord(String value)
Write a value in hexa in the control world (index=6040,
subindex=0,size=2)
|
void |
writeCurrent(int aValue)
In current mode this methods send a current to the motor.
|
String |
writeParameter(EPOSEnumerations.Parameter param,
int value)
Set the parameter given as argument with the decimal value given as
argument and write it in the controller CPU.
|
String |
writeParameter(String parameterName,
int value)
This method writes a parameter in the CPU of the EPOS.
|
String |
writeParameterInHexa(EPOSEnumerations.Parameter param,
String hexaValue)
Set the parameter given as argument with the hexadecimal value given as
argument and write it in the controller CPU.
|
String |
writeParameterInHexa(String parameterName,
String hexaValue)
This method writes a parameter in the CPU of the EPOS.
|
void |
writeParameters() |
void |
writeParameters(EPOSEnumerations.EposMode mode)
This methods writes in the CPU of the EPOS devis the values of the
parameters set for the mode.
|
void |
writeParameters(Map<String,Integer> paramMap)
Write to the CPU of the EPOS a map of parameters.
|
void |
writeParameters(String modeInString) |
void |
writeTargetPosition(int aValue)
In PROFILE_POSITION mode this methods set the target position.
|
displayErrorHistory, displayErrorRegister, getErrorHistoryNames, getNodeID, getSerialNB, isBooted, isInitialized, readErrorHistory, readErrorRegister, readNumberOfErrors, readSDO, saveParameters, setBooted, toString, writeSDOgetComponentTree, getEnvironment, getModule, getName, getNObserverThreads, getObservables, getSubsystem, getTickMillis, init, listens, postStart, sendSignal, sendSignalWithTimeLimit, setEnvironment, setName, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, startTicking, tick, updateaddObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChangedclone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitdisplayErrorHistory, readNumberOfErrorsgetName, getNodeID, getSerialNB, isBooted, isInitialized, setBootedchange, getCheckedValueFromConfiguration, getChildren, getComponentByName, getFullPath, getParent, getParentObject, injectResources, listChildren, notifyChange, notifyChangeWithoutPreliminaryChecks, setBulkParameter, start, submitChange, submitChanges, validateBulkChangeprotected EPOSEnumerations.EposMode mode
public CanOpenEPOS(String aName, int aTickMillis, String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming)
aName - aTickMillis - nodeID - serialNB - paramsForCurrent - paramsForProfilePosition - paramsForHoming - public boolean isEnabledToPublish()
isEnabledToPublish in interface EPOSControllerpublic String getModeInString()
getModeInString in interface EPOSControllerpublic boolean isTurnedOff()
isTurnedOff in interface EPOSControllerpublic boolean isParametersOK()
EPOSControllerisParametersOK in interface EPOSControllerpublic void setParametersOK(boolean parametersOK)
public String[] getErrorHistory()
getErrorHistory in interface EPOSControllerpublic String getErrorRegister()
getErrorRegister in interface EPOSControllerpublic boolean isInError()
isInError in interface EPOSControllerpublic Map<String,Integer> getParamsForHoming()
getParamsForHoming in interface EPOSControllerpublic Map<String,Integer> getParamsForProfilePosition()
getParamsForProfilePosition in interface EPOSControllerpublic Map<String,Integer> getParamsForCurrent()
getParamsForCurrent in interface EPOSControllerpublic int getMaxCurrent()
throws FcsHardwareException
getMaxCurrent in interface EPOSControllerFcsHardwareExceptionpublic int getMinCurrent()
throws FcsHardwareException
getMinCurrent in interface EPOSControllerFcsHardwareExceptionpublic int getMaxSpeed()
throws FcsHardwareException
getMaxSpeed in interface EPOSControllerFcsHardwareExceptionpublic int getMaxPosition()
throws FcsHardwareException
getMaxPosition in interface EPOSControllerFcsHardwareExceptionpublic int getMinPosition()
throws FcsHardwareException
getMinPosition in interface EPOSControllerFcsHardwareExceptionpublic int getMotorParameterValue(String parameterName) throws EPOSConfigurationException
parameterName - EPOSConfigurationException@Command(type=QUERY,
level=1,
description="Print the configured parameters for this EPOS for this mode.This command doesn\'t read the controlle.")
public String printParameters()
throws FcsHardwareException
SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Print the configured parameters for this EPOS for a mode name given in argument. This command doesn\'t read the controller.")
public String printConfigurationParameters(String modeInString)
modeInString - @Command(type=QUERY,
level=1,
description="Reads the EPOS mode in the CPU of the EPOS device and updates the field mode.")
public EPOSEnumerations.EposMode readMode()
throws SDORequestException,
ShortResponseToSDORequestException,
FcsHardwareException
readMode in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Print the Epos controller mode without reading controller CPU.")
public String printMode()
@Command(type=ACTION,
level=3,
description="Change EPOS mode .")
public String changeMode(String modeInString)
throws FcsHardwareException
modeInString - SDORequestExceptionFcsHardwareExceptionpublic String changeMode(EPOSEnumerations.EposMode newMode) throws FcsHardwareException
changeMode in interface EPOSControllernewMode - SDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Displays the list of parameters that we have to define for a given mode.")
public static String displayListParameters(String modeInString)
modeInString - @Command(type=QUERY,
level=1,
description="Displays the list of parameters.")
public static String displayListParameters()
@Command(type=QUERY,
level=1,
description="This methods reads in the CPU of the EPOS the values of the parameters for a given mode.")
public String readParameters(String modeInString)
throws FcsHardwareException
modeInString - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic String readParameters(EPOSEnumerations.EposMode aMode) throws FcsHardwareException
readParameters in interface EPOSControllerFcsHardwareException@Command(type=QUERY,
level=1,
description="Read the parameters for the actual mode.")
public String readParameters()
throws FcsHardwareException
FcsHardwareException@Command(type=ACTION,
level=3,
description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode.")
public void writeParameters()
throws org.lsst.ccs.messaging.ErrorInCommandExecutionException,
FcsHardwareException
org.lsst.ccs.messaging.ErrorInCommandExecutionExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="This methods writes in the CPU of the EPOS device the values of the parameters set for the mode given as argument")
public void writeParameters(String modeInString)
throws org.lsst.ccs.messaging.ErrorInCommandExecutionException,
FcsHardwareException
org.lsst.ccs.messaging.ErrorInCommandExecutionExceptionFcsHardwareExceptionpublic void writeParameters(EPOSEnumerations.EposMode mode) throws org.lsst.ccs.messaging.ErrorInCommandExecutionException, FcsHardwareException
writeParameters in interface EPOSControllermode - SDORequestExceptionorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionFcsHardwareExceptionpublic void writeParameters(Map<String,Integer> paramMap) throws FcsHardwareException
writeParameters in interface EPOSControllerparamMap - SDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="Set EPOS parameter with the value given as argument.")
public String writeParameter(String parameterName,
int value)
throws FcsHardwareException
parameterName - the name of the parametervalue - in decimalSDORequestExceptionFcsHardwareExceptionpublic String writeParameter(EPOSEnumerations.Parameter param, int value) throws FcsHardwareException
param - parameter to be setvalue - decimal valueSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="Set EPOS parameter with the hexadecimal value given as argument.")
public String writeParameterInHexa(String parameterName,
String hexaValue)
throws FcsHardwareException
parameterName - the name of the parameterhexaValue - value of the parameter given in hexaSDORequestExceptionFcsHardwareExceptionpublic String writeParameterInHexa(EPOSEnumerations.Parameter param, String hexaValue) throws FcsHardwareException
writeParameterInHexa in interface EPOSControllerparam - hexaValue - SDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Reads in the EPOS CPU the decimal value of the Parameter which parameter name is given as argument.")
public int readParameter(String parameterName)
throws FcsHardwareException
parameterName - name of the parameter to readSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic int readParameter(EPOSEnumerations.Parameter param) throws FcsHardwareException
param - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Reads in the EPOS CPU the hexadecimal value of the Parameter which parameter name is given as argument.")
public String readParameterInHexa(String parameterName)
throws FcsHardwareException
parameterName - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic String readParameterInHexa(EPOSEnumerations.Parameter param) throws FcsHardwareException
param - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic boolean isTargetPositionReached(int position)
throws FcsHardwareException
isTargetPositionReached in interface EPOSControllerFcsHardwareExceptionpublic void initModule()
initModule in class CanOpenDevicepublic void processUpdate(Observable source, org.lsst.ccs.framework.Module.ValueUpdate v)
processUpdate in class org.lsst.ccs.framework.Modulesource - v - @Command(type=QUERY,
level=1,
description="Read controller\'s parameter in the CPU for each mode and warn if a parameter has not the same value as in the configuration.Then publish data.")
public String initializeAndCheckHardware()
throws FcsHardwareException
CanOpenDeviceinitializeAndCheckHardware in interface PieceOfHardwareinitializeAndCheckHardware in class CanOpenDeviceFcsHardwareException@Command(type=QUERY,
level=1,
description="Returns true if the controller is enabled.")
public boolean isEnabled()
throws FcsHardwareException
isEnabled in interface EPOSControllerFcsHardwareException@Command(type=ACTION,
level=1,
description="Clear faults on the controller.")
public void faultReset()
throws FcsHardwareException
FcsHardwareException@Command(type=ACTION,
level=1,
description="This methods enables the controller : i.e. this makes it able to receive commands.")
public String enable()
throws FcsHardwareException
enable in interface EPOSControllerSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="Shutdown the controller.")
public String shutdown()
throws FcsHardwareException
shutdown in interface EPOSControllerSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="writeControlWord(\"F\")")
public void switchOnEnableOperation()
throws FcsHardwareException
switchOnEnableOperation in interface EPOSControllerFcsHardwareException@Command(type=ACTION,
level=3,
description="Restore default parameters. AT YOUR OWN RISK.")
public Object restoreParameters()
throws FcsHardwareException
SDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="Write a value in hexa in the control world (index=6040, subindex=0,size=2)")
public void writeControlWord(String value)
throws FcsHardwareException
writeControlWord in interface EPOSControllervalue - in hexaSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Read the control world (index=6040, subindex=0,size=2)")
public String readControlWord()
throws ShortResponseToSDORequestException,
FcsHardwareException
SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Read the status world (index=6041, subindex=0,size=2)")
public String readStatusWord()
throws ShortResponseToSDORequestException,
FcsHardwareException
SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="QuickStop.")
public void quickStop()
throws FcsHardwareException
quickStop in interface EPOSControllerFcsHardwareExceptionpublic String off() throws org.lsst.ccs.messaging.BadCommandException, FcsHardwareException
off in interface EPOSControllerorg.lsst.ccs.messaging.BadCommandExceptionFcsHardwareException@Command(type=QUERY,
level=3,
description="Display motor parameters values stored in the EPOS CPU.")
public String displayMotorParameters()
throws FcsHardwareException
SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="Set the current value in the EPOS CPU.")
public void writeCurrent(int aValue)
throws org.lsst.ccs.messaging.BadCommandException,
FcsHardwareException
writeCurrent in interface EPOSControlleraValue - UNIT=mA / FORMAT=decimal the value of the current to be
sent.org.lsst.ccs.messaging.BadCommandExceptionFcsHardwareExceptionEPOSConfigurationExceptionSDORequestException@Command(type=QUERY,
level=1,
alias="readCurrentActualValue",
description="In Current Mode this methods returns the current actualy received by the motor.")
public int readCurrent()
throws org.lsst.ccs.messaging.BadCommandException,
ShortResponseToSDORequestException,
FcsHardwareException
readCurrent in interface EPOSControllerorg.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
alias="readCurrentAverage",
description="In Current Mode this methods returns the average of the current received by the motor.")
public int readCurrentAverageValue()
throws org.lsst.ccs.messaging.BadCommandException,
FcsHardwareException
org.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic void stopCurrent()
throws org.lsst.ccs.messaging.BadCommandException,
FcsHardwareException
org.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
alias="readPositionActualValue",
description="In PROFILE_POSITION Mode this methods returns the actual position.")
public int readPosition()
throws ShortResponseToSDORequestException,
FcsHardwareException
readPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Read the position returned by the absolute encoder (single serial data).")
public int readSSIPosition()
throws ShortResponseToSDORequestException,
FcsHardwareException
readSSIPosition in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="In PROFILE_POSITION returns the value of the parameter ProfileVelocity.")
public int readProfileVelocity()
throws ShortResponseToSDORequestException,
FcsHardwareException
readProfileVelocity in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic String setHomingMethodActual() throws org.lsst.ccs.messaging.BadCommandException, FcsHardwareException
org.lsst.ccs.messaging.BadCommandException - if not in HOMING mode.FcsHardwareExceptionpublic void startHoming()
throws org.lsst.ccs.messaging.BadCommandException,
org.lsst.ccs.messaging.ErrorInCommandExecutionException,
FcsHardwareException
SDORequestExceptionorg.lsst.ccs.messaging.BadCommandException - if the EPOSorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionFcsHardwareExceptionpublic String setHomePosition(int position) throws org.lsst.ccs.messaging.BadCommandException, FcsHardwareException
position - in decimal formatSDORequestExceptionorg.lsst.ccs.messaging.BadCommandExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="Define the actual position as position given as argument.")
public void defineAbsolutePosition(int position)
throws org.lsst.ccs.messaging.ErrorInCommandExecutionException,
org.lsst.ccs.messaging.BadCommandException,
FcsHardwareException
defineAbsolutePosition in interface EPOSControllerSDORequestExceptionorg.lsst.ccs.messaging.ErrorInCommandExecutionExceptionorg.lsst.ccs.messaging.BadCommandExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="In PROFILE_POSITION mode this methods set the target position. Target position has to be given in microns.")
public void writeTargetPosition(int aValue)
throws org.lsst.ccs.messaging.BadCommandException,
FcsHardwareException
writeTargetPosition in interface EPOSControlleraValue - UNIT=mA / FORMAT=decimal the value of the current to be
sent.org.lsst.ccs.messaging.BadCommandExceptionSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="In HOMING mode and PROFILE_POSITION mode this indicates that the position is reached.")
public boolean checkTargetReached()
throws FcsHardwareException
checkTargetReached in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=QUERY,
level=1,
description="Check if the Controller is in fault.")
public void checkFault()
throws FcsHardwareException
checkFault in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic void checkParameters(EPOSEnumerations.EposMode aMode) throws FcsHardwareException
checkParameters in interface EPOSControllerFcsHardwareException@Command(type=QUERY,
level=1,
description="For every parameter to be defined for this mode this method compares the values in configuration with the value stored in controller CPUand throws a HardwareException if these values are not equal.")
public void checkParameters(String modeInString)
throws FcsHardwareException
checkParameters in interface EPOSControllermodeInString - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareExceptionpublic void checkParameters(Map<String,Integer> paramsMap) throws FcsHardwareException
paramsMap - SDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=3,
description="Change mode to CURRENT mode and initialize theCURRENT mode parameters from configuration values.")
public void activateCurrentMode()
throws FcsHardwareException
FcsHardwareException@Command(type=ACTION,
level=3,
description="Change mode to HOMING mode and initialize theHOMING mode parameters from configuration values.")
public void activateHomingMode()
throws FcsHardwareException
FcsHardwareException@Command(type=ACTION,
level=3,
description="Change mode to PROFILE_POSITION mode and initialize thePROFILE_POSITION mode parameters from configuration values.")
public void activateProfilePositionMode()
throws FcsHardwareException
FcsHardwareException@Command(type=ACTION,
level=1,
description="Put the brake on to prevent the trucks motion.")
public void activateBrake()
throws FcsHardwareException
activateBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="Release the brake in order to be able to move the trucks.")
public void releaseBrake()
throws FcsHardwareException
releaseBrake in interface EPOSControllerSDORequestExceptionShortResponseToSDORequestExceptionFcsHardwareException@Command(type=ACTION,
level=1,
description="Activate the holding brake and shutdown the controller.")
public void disable()
throws FcsHardwareException
disable in interface EPOSControllerFcsHardwareExceptionpublic StatusDataPublishedByEPOSController getStatusData()
@Command(type=QUERY,
level=1,
alias="refreshGUI",
description="Publish data for the controller on the status bus.")
public void publishData()
public static int convertToInteger16(int unsigned16)
unsigned16 - public static void main(String[] args)
args - the command line argumentsCopyright © 2016 LSST. All rights reserved.