SimuEPOSControllerModule (LSST CCS - Subsystem FCS Main 4.0.0 API)

java.lang.Object
- java.util.Observable
- - org.lsst.ccs.framework.Module
  - - org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice
    - - org.lsst.ccs.subsystems.fcs.simulation.SimuEPOSControllerModule

All Implemented Interfaces:

Observer, org.lsst.ccs.config.ConfigurationBulkChangeHandler, org.lsst.ccs.framework.Configurable, org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, EPOSController, PieceOfHardware, org.lsst.ccs.UsesSubsystem

Direct Known Subclasses:

SimuAutochangerLatchController, SimuAutochangerLinearRailController, SimuAutochangerOnlineClampController, SimuCarouselClampController, SimuCarouselController, SimuLoaderCarrierController, SimuLoaderClampController
```
public abstract class SimuEPOSControllerModule
extends CanOpenDevice
implements EPOSController
```
This class is to simulate an EPOS Controller.

Author:

virieux

Nested Class Summary
- Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module
  org.lsst.ccs.framework.Module.ValueUpdate
- Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable
  org.lsst.ccs.framework.Configurable.Environment

Field Summary

Fields
Modifier and Type	Field and Description
`protected int`	`actualCurrent`
`protected EPOSEnumerations.EposMode`	`mode`
`protected int`	`position`
`protected int`	`ssiPosition`
`protected int`	`targetCurrent`
`protected int`	`targetPosition`
`protected boolean`	`turnedOff`

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice
booted, bridge, errorHistory, errorRegister, inError, initialized, nodeID, serialNB, tcpProxy

Fields inherited from class org.lsst.ccs.framework.Module
name, nObserverThreads, tickMillis

Constructor Summary

Constructors
Constructor and Description
`SimuEPOSControllerModule(String nodeID, String serialNB, Map<String,Integer> paramsForCurrent, Map<String,Integer> paramsForProfilePosition, Map<String,Integer> paramsForHoming)` Build a new SimuEPOSControllerModule

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`activateBrake()` Activate brake for controller who manages a brake.
`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)` Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in 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()` Throw an Exception if the target was not reached in the previous action.
`void`	`defineAbsolutePosition(int position)` Defines the actual position as the absolute position which value is given as an argument.
`void`	`disable()` Disable controller.
`String`	`displayErrorHistory()` Return a printed list of errors that occured on this controller.
`String`	`enable()` enable the controller.
`void`	`faultReset()`
`int`	`getMaxCurrent()` Return the max value of current which can be sent to this controller.
`int`	`getMaxPosition()` Return the max position for the object moved by motor which is controlled by this controller.
`int`	`getMaxSpeed()` Return the min value of speed for the motor controlled by this controller.
`int`	`getMinCurrent()` Return the min value of current which can be sent to this controller.
`int`	`getMinPosition()` Return the min position for the object moved by motor which is controlled by this controller.
`EPOSEnumerations.EposMode`	`getMode()` Return the EPOS mode stored in field mode.
`Map<String,Integer>`	`getParamsForCurrent()` Return the list of parameters in Current mode that are in Configuration System for this controller.
`Map<String,Integer>`	`getParamsForHoming()` Return the list of parameters in Homing mode that are in Configuration System for this controller.
`Map<String,Integer>`	`getParamsForProfilePosition()` Return the list of parameters in Homing mode that are in Configuration System for this controller.
`StatusDataPublishedByEPOSController`	`getStatusData()` Return the object to be published on the STATUS bus by a SimuEPOSControllerModule.
`String`	`initializeAndCheckHardware()` This methods is called during INITIALIZATION phase.
`boolean`	`isEnabled()` Return true if the controller is enabled and so ready to receive commands.
`boolean`	`isEnabledToPublish()` For GUI.
`boolean`	`isParametersOK()` We assum that simulated hardware's controller has always correct parameters.
`boolean`	`isTargetPositionReached(int targetPosition)` Return true if the target position has been reached.
`boolean`	`isTurnedOff()` Return true if the controller is turned OFF;
`String`	`off()` Turn off controller.
`void`	`publishData()` Publish Data on status bus for trending data base and GUIs.
`void`	`quickStop()` Send a quickStop command to the controller.
`int`	`readCurrent()` Read actual current on the controller CPU.
`String[]`	`readErrorHistory()` The error history holds errors that have occurred on the device and have been signalled via the emergency object.
`String`	`readErrorRegister()` At index 1001 there deviceErrorFile an error register for the device.
`EPOSEnumerations.EposMode`	`readMode()` read the EPOS mode on the controller CPU.
`int`	`readNumberOfErrors()` Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1.
`String`	`readParameters(EPOSEnumerations.EposMode mode)` Read all the value of parameters for a given EPOS mode and return a printed list of this values.
`int`	`readPosition()` Read actual position on the controller CPU.
`int`	`readProfileVelocity()` Read ProfileVelocity on the controller CPU.
`int`	`readSSIPosition()` Read the position returned by the absolute encoder (single serial data).
`void`	`releaseBrake()` Release brake for controller who manages a brake.
`Object`	`saveParameters()` This method saves the parameters in the controller memory.
`void`	`setPosition(int actualPosition)`
`String`	`shutdown()` Shutdown the controller.
`void`	`switchOnEnableOperation()` SwitchOn and enable controller.
`void`	`writeControlWord(String f)` Write controlWord to the controller.
`void`	`writeCurrent(int aValue)` In current mode this methods send a current to the motor.
`String`	`writeParameter(EPOSEnumerations.Parameter param, int value)`
`String`	`writeParameterInHexa(EPOSEnumerations.Parameter parameter, String string)` Write on the CPU of the controller a value given in hexadecimal format for a parameter.
`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`	`writeTargetPosition(int position)` In PROFILE_POSITION mode this methods set the target position.

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice
configAsHeartbeatConsumer, configAsHeartbeatProducer, configAsHeartbeatProducer, createStatusDataPublishedByCanOpenDevice, displayErrorRegister, getErrorHistory, getErrorRegister, getNodeID, getSerialNB, getTcpProxy, initModule, isBooted, isInError, isInitialized, processUpdate, readErrorHistoryNames, readSDO, setBooted, toString, writeSDO

Methods inherited from class org.lsst.ccs.framework.Module
getNObserverThreads, getObservables, getTickMillis, init, listens, sendSignal, sendSignalWithTimeLimit, setNObserverThreads, setObservables, setTickMillis, shutdownNow, signal, startTicking, tick, update

Methods inherited from class java.util.Observable
addObserver, clearChanged, countObservers, deleteObserver, deleteObservers, hasChanged, notifyObservers, notifyObservers, setChanged

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.EPOSController
getErrorHistory, getErrorRegister, isInError

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware
getNodeID, getSerialNB, isBooted, isInitialized, printState, setBooted

Methods inherited from interface org.lsst.ccs.UsesSubsystem
getComponentConfigurationEnvironment, getComponentLookup, getName, getSubsystem

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
raiseAlarm, raiseAlarm, raiseAlarm, raiseWarning, raiseWarning, raiseWarning

Methods inherited from interface org.lsst.ccs.framework.Configurable
change, dropSubmittedChanges, getChildren, getComponentByName, getEnvironment, getParent, getParentObject, getSubmittedChanges, isParameterConfigurable, postStart, printConfigurableParameters, setBulkParameter, start, submitChange, submitChanges, validateBulkChange

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler
setParameterBulk

- Field Detail
  - turnedOff
```
protected boolean turnedOff
```
  - mode
```
protected EPOSEnumerations.EposMode mode
```
  - targetPosition
```
protected int targetPosition
```
  - position
```
protected int position
```
  - ssiPosition
```
protected int ssiPosition
```
  - targetCurrent
```
protected int targetCurrent
```
  - actualCurrent
```
protected int actualCurrent
```
- Constructor Detail
  - SimuEPOSControllerModule
```
public SimuEPOSControllerModule(String nodeID,
                                String serialNB,
                                Map<String,Integer> paramsForCurrent,
                                Map<String,Integer> paramsForProfilePosition,
                                Map<String,Integer> paramsForHoming)
```
    Build a new SimuEPOSControllerModule
    
    Parameters:
    
    nodeID -
    
    serialNB -
    
    paramsForCurrent -
    
    paramsForProfilePosition -
    
    paramsForHoming -
- Method Detail
  - setPosition
```
@Command(type=ACTION,
         level=1,
         description="For simulator only : Update position with a position given as argument.")
public void setPosition(int actualPosition)
```
  - isEnabledToPublish
```
public boolean isEnabledToPublish()
```
    Description copied from interface: EPOSController
    
    For GUI. Doesn't read again controller CPU. Return true if controller is enabled.
    
    Specified by:
    
    isEnabledToPublish in interface EPOSController
    
    Returns:
  - isTurnedOff
```
public boolean isTurnedOff()
```
    Description copied from interface: EPOSController
    
    Return true if the controller is turned OFF;
    
    Specified by:
    
    isTurnedOff in interface EPOSController
    
    Returns:
  - getMode
```
public EPOSEnumerations.EposMode getMode()
```
    Description copied from interface: EPOSController
    
    Return the EPOS mode stored in field mode. Doesn't read again controller CPU.
    
    Specified by:
    
    getMode in interface EPOSController
    
    Returns:
  - getParamsForHoming
```
public Map<String,Integer> getParamsForHoming()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Homing mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForHoming in interface EPOSController
    
    Returns:
  - getParamsForProfilePosition
```
public Map<String,Integer> getParamsForProfilePosition()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Homing mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForProfilePosition in interface EPOSController
    
    Returns:
  - getParamsForCurrent
```
public Map<String,Integer> getParamsForCurrent()
```
    Description copied from interface: EPOSController
    
    Return the list of parameters in Current mode that are in Configuration System for this controller.
    
    Specified by:
    
    getParamsForCurrent in interface EPOSController
    
    Returns:
  - isParametersOK
```
public boolean isParametersOK()
```
    We assum that simulated hardware's controller has always correct parameters.
    
    Specified by:
    
    isParametersOK in interface EPOSController
    
    Returns:
  - initializeAndCheckHardware
```
public String initializeAndCheckHardware()
```
    This methods is called during INITIALIZATION phase. We want to publish data in order for the controllers GUIs to be refreshed.
    
    Specified by:
    
    initializeAndCheckHardware in interface PieceOfHardware
    
    Overrides:
    
    initializeAndCheckHardware in class CanOpenDevice
    
    Returns:
    
    a message
  - changeMode
```
public String changeMode(String modeInString)
```
    Changes the mode to the new mode given as a String argument.
    
    Parameters:
    
    modeInString -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - changeMode
```
public String changeMode(EPOSEnumerations.EposMode newMode)
```
    Description copied from interface: EPOSController
    
    This methods changes the mode to the new mode given as an argument. It writes the new mode in the CPU of the EPOS controller and updates the field mode.
    
    Specified by:
    
    changeMode in interface EPOSController
    
    Parameters:
    
    newMode -
    
    Returns:
    
    Throws:
    
    SDORequestException
  - defineAbsolutePosition
```
public void defineAbsolutePosition(int position)
```
    Description copied from interface: EPOSController
    
    Defines the actual position as the absolute position which value is given as an argument.
    
    Specified by:
    
    defineAbsolutePosition in interface EPOSController
  - disable
```
public void disable()
```
    Description copied from interface: EPOSController
    
    Disable controller.
    
    Specified by:
    
    disable in interface EPOSController
  - writeParameters
```
public void writeParameters(EPOSEnumerations.EposMode mode)
```
    Description copied from interface: EPOSController
    
    This methods writes in the CPU of the EPOS devis the values of the parameters set for the mode. Usually the values of the parameters are given by the configuration system.
    
    Specified by:
    
    writeParameters in interface EPOSController
  - writeParameterInHexa
```
public String writeParameterInHexa(EPOSEnumerations.Parameter parameter,
                                   String string)
```
    Description copied from interface: EPOSController
    
    Write on the CPU of the controller a value given in hexadecimal format for a parameter.
    
    Specified by:
    
    writeParameterInHexa in interface EPOSController
    
    string - HEXADECIMAL format of the new value.
    
    Returns:
  - writeParameter
```
public String writeParameter(EPOSEnumerations.Parameter param,
                             int value)
```
  - saveParameters
```
public Object saveParameters()
```
    Description copied from class: CanOpenDevice
    
    This method saves the parameters in the controller memory.
    
    Overrides:
    
    saveParameters in class CanOpenDevice
    
    Returns:
  - writeTargetPosition
```
public void writeTargetPosition(int position)
```
    Description copied from interface: EPOSController
    
    In PROFILE_POSITION mode this methods set the target position. This make run the motor.
    
    Specified by:
    
    writeTargetPosition in interface EPOSController
    
    Parameters:
    
    position - UNIT=mA / FORMAT=decimal the value of the current to be sent.
  - writeParameters
```
public void writeParameters(Map<String,Integer> paramMap)
```
    Description copied from interface: EPOSController
    
    Write to the CPU of the EPOS a map of parameters.
    
    Specified by:
    
    writeParameters in interface EPOSController
  - writeCurrent
```
public void writeCurrent(int aValue)
```
    Description copied from interface: EPOSController
    
    In current mode this methods send a current to the motor. This make run the motor.
    
    Specified by:
    
    writeCurrent in interface EPOSController
    
    Parameters:
    
    aValue - UNIT=mA / FORMAT=decimal the value of the current to be sent.
  - off
```
public String off()
```
    Description copied from interface: EPOSController
    
    Turn off controller.
    
    Specified by:
    
    off in interface EPOSController
    
    Returns:
  - isTargetPositionReached
```
public boolean isTargetPositionReached(int targetPosition)
```
    Description copied from interface: EPOSController
    
    Return true if the target position has been reached.
    
    Specified by:
    
    isTargetPositionReached in interface EPOSController
    
    Returns:
  - readPosition
```
public int readPosition()
```
    Description copied from interface: EPOSController
    
    Read actual position on the controller CPU.
    
    Specified by:
    
    readPosition in interface EPOSController
    
    Returns:
  - readSSIPosition
```
public int readSSIPosition()
```
    Read the position returned by the absolute encoder (single serial data).
    
    Specified by:
    
    readSSIPosition in interface EPOSController
    
    Returns:
    
    Throws:
    
    SDORequestException
    
    ShortResponseToSDORequestException
  - enable
```
public String enable()
```
    Description copied from interface: EPOSController
    
    enable the controller. (to be done before each action on the motor.)
    
    Specified by:
    
    enable in interface EPOSController
    
    Returns:
  - readCurrent
```
public int readCurrent()
```
    Description copied from interface: EPOSController
    
    Read actual current on the controller CPU.
    
    Specified by:
    
    readCurrent in interface EPOSController
    
    Returns:
  - readMode
```
public EPOSEnumerations.EposMode readMode()
```
    Description copied from interface: EPOSController
    
    read the EPOS mode on the controller CPU.
    
    Specified by:
    
    readMode in interface EPOSController
    
    Returns:
  - getMaxCurrent
```
public int getMaxCurrent()
```
    Description copied from interface: EPOSController
    
    Return the max value of current which can be sent to this controller.
    
    Specified by:
    
    getMaxCurrent in interface EPOSController
    
    Returns:
  - getMinCurrent
```
public int getMinCurrent()
```
    Description copied from interface: EPOSController
    
    Return the min value of current which can be sent to this controller.
    
    Specified by:
    
    getMinCurrent in interface EPOSController
    
    Returns:
  - getMaxSpeed
```
public int getMaxSpeed()
```
    Description copied from interface: EPOSController
    
    Return the min value of speed for the motor controlled by this controller.
    
    Specified by:
    
    getMaxSpeed in interface EPOSController
    
    Returns:
  - getMaxPosition
```
public int getMaxPosition()
```
    Description copied from interface: EPOSController
    
    Return the max position for the object moved by motor which is controlled by this controller. (example of objects moved by this controller: loader trucks or autochanger trucks)
    
    Specified by:
    
    getMaxPosition in interface EPOSController
    
    Returns:
  - getMinPosition
```
public int getMinPosition()
```
    Description copied from interface: EPOSController
    
    Return the min position for the object moved by motor which is controlled by this controller. (example of objects moved by this controller: loader trucks or autochanger trucks)
    
    Specified by:
    
    getMinPosition in interface EPOSController
    
    Returns:
  - quickStop
```
public void quickStop()
```
    Description copied from interface: EPOSController
    
    Send a quickStop command to the controller.
    
    Specified by:
    
    quickStop in interface EPOSController
  - readNumberOfErrors
```
public int readNumberOfErrors()
```
    Description copied from class: CanOpenDevice
    
    Extract from the Maxon Motor firmware specification : Contains the number of actual errors that are recorded in the array starting at subindex 1. Writing a “0” deletes the error history (empties the array). Values higher then “0” (zero) are not allowed to write." Read and returns the number of errors registred in the Error History
    
    Specified by:
    
    readNumberOfErrors in interface EPOSController
    
    Overrides:
    
    readNumberOfErrors in class CanOpenDevice
    
    Returns:
  - readErrorRegister
```
public String readErrorRegister()
```
    Description copied from class: CanOpenDevice
    
    At index 1001 there deviceErrorFile an error register for the device. The device maps internal errors in this byte.
    
    Overrides:
    
    readErrorRegister in class CanOpenDevice
    
    Returns:
    
    error code in Hexa
  - readErrorHistory
```
public String[] readErrorHistory()
```
    Description copied from class: CanOpenDevice
    
    The error history holds errors that have occurred on the device and have been signalled via the emergency object. This methods reads the Maxon Motor Error History and returns an array of error code.
    
    Overrides:
    
    readErrorHistory in class CanOpenDevice
    
    Returns:
    
    errors : a list of device error code
  - displayErrorHistory
```
public String displayErrorHistory()
```
    Description copied from interface: EPOSController
    
    Return a printed list of errors that occured on this controller.
    
    Specified by:
    
    displayErrorHistory in interface EPOSController
    
    Overrides:
    
    displayErrorHistory in class CanOpenDevice
    
    Returns:
  - checkFault
```
@Command(type=QUERY,
         level=1,
         description="Check if the Controller is in fault.")
public void checkFault()
```
    Description copied from interface: EPOSController
    
    Check if the controller is in fault. Throw an Exception if the controller is in fault.
    
    Specified by:
    
    checkFault in interface EPOSController
  - faultReset
```
@Command(type=ACTION,
         level=1,
         description="Clear faults on the controller.")
public void faultReset()
```
  - readProfileVelocity
```
public int readProfileVelocity()
```
    Description copied from interface: EPOSController
    
    Read ProfileVelocity on the controller CPU.
    
    Specified by:
    
    readProfileVelocity in interface EPOSController
    
    Returns:
  - readParameters
```
public String readParameters(EPOSEnumerations.EposMode mode)
```
    Description copied from interface: EPOSController
    
    Read all the value of parameters for a given EPOS mode and return a printed list of this values.
    
    Specified by:
    
    readParameters in interface EPOSController
    
    Returns:
  - checkParameters
```
public void checkParameters(String modeInString)
                     throws org.lsst.ccs.HardwareException
```
    Description copied from interface: EPOSController
    
    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.
    
    Specified by:
    
    checkParameters in interface EPOSController
    
    Throws:
    
    org.lsst.ccs.HardwareException
  - checkParameters
```
public void checkParameters(EPOSEnumerations.EposMode aMode)
                     throws org.lsst.ccs.HardwareException
```
    Description copied from interface: EPOSController
    
    Check parameters for a given EPOS mode : compare the values stored in the Configuration System and the values stored in controller CPU. Raise a FcsHardwareException if some values are not equals.
    
    Specified by:
    
    checkParameters in interface EPOSController
    
    Throws:
    
    org.lsst.ccs.HardwareException
  - writeControlWord
```
public void writeControlWord(String f)
```
    Description copied from interface: EPOSController
    
    Write controlWord to the controller. Use to send or start commands. See EPOS documentation.
    
    Specified by:
    
    writeControlWord in interface EPOSController
  - shutdown
```
public String shutdown()
```
    Description copied from interface: EPOSController
    
    Shutdown the controller.
    
    Specified by:
    
    shutdown in interface EPOSController
    
    Returns:
  - isEnabled
```
public boolean isEnabled()
```
    Description copied from interface: EPOSController
    
    Return true if the controller is enabled and so ready to receive commands.
    
    Specified by:
    
    isEnabled in interface EPOSController
    
    Returns:
  - checkTargetReached
```
public boolean checkTargetReached()
```
    Description copied from interface: EPOSController
    
    Throw an Exception if the target was not reached in the previous action.
    
    Specified by:
    
    checkTargetReached in interface EPOSController
    
    Returns:
  - releaseBrake
```
public void releaseBrake()
```
    Description copied from interface: EPOSController
    
    Release brake for controller who manages a brake. Use for autochanger ONLINE clamps.
    
    Specified by:
    
    releaseBrake in interface EPOSController
  - switchOnEnableOperation
```
public void switchOnEnableOperation()
```
    Description copied from interface: EPOSController
    
    SwitchOn and enable controller.
    
    Specified by:
    
    switchOnEnableOperation in interface EPOSController
  - activateBrake
```
public void activateBrake()
```
    Description copied from interface: EPOSController
    
    Activate brake for controller who manages a brake. Use for autochanger ONLINE clamps.
    
    Specified by:
    
    activateBrake in interface EPOSController
  - getStatusData
```
public StatusDataPublishedByEPOSController getStatusData()
```
    Return the object to be published on the STATUS bus by a SimuEPOSControllerModule.
    
    Overrides:
    
    getStatusData in class CanOpenDevice
    
    Returns:
  - publishData
```
@Command(type=QUERY,
         level=1,
         alias="refreshGUI",
         description="Publish data for the controller on the status bus.")
public void publishData()
```
    Publish Data on status bus for trending data base and GUIs.
    
    Overrides:
    
    publishData in class CanOpenDevice

Class SimuEPOSControllerModule

Nested Class Summary

Nested classes/interfaces inherited from class org.lsst.ccs.framework.Module

Nested classes/interfaces inherited from interface org.lsst.ccs.framework.Configurable

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

Fields inherited from class org.lsst.ccs.framework.Module

Constructor Summary

Method Summary

Methods inherited from class org.lsst.ccs.subsystems.fcs.drivers.CanOpenDevice

Methods inherited from class org.lsst.ccs.framework.Module

Methods inherited from class java.util.Observable

Methods inherited from class java.lang.Object

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.EPOSController

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.PieceOfHardware

Methods inherited from interface org.lsst.ccs.UsesSubsystem

Methods inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser

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

Methods inherited from interface org.lsst.ccs.config.ConfigurationBulkChangeHandler

Field Detail

turnedOff

mode

targetPosition

position

ssiPosition

targetCurrent

actualCurrent

Constructor Detail

SimuEPOSControllerModule

Method Detail

setPosition

isEnabledToPublish

isTurnedOff

getMode

getParamsForHoming

getParamsForProfilePosition

getParamsForCurrent

isParametersOK

initializeAndCheckHardware

changeMode

changeMode

defineAbsolutePosition

disable

writeParameters

writeParameterInHexa

writeParameter

saveParameters

writeTargetPosition

writeParameters

writeCurrent

off

isTargetPositionReached

readPosition

readSSIPosition

enable

readCurrent

readMode

getMaxCurrent

getMinCurrent

getMaxSpeed

getMaxPosition

getMinPosition

quickStop

readNumberOfErrors

readErrorRegister

readErrorHistory

displayErrorHistory

checkFault

faultReset

readProfileVelocity

readParameters

checkParameters

checkParameters

writeControlWord

shutdown

isEnabled

checkTargetReached

releaseBrake

switchOnEnableOperation

activateBrake