AutochangerTwoTrucks (LSST CCS - Subsystem FCS Main 6.1.7 API)

java.lang.Object
- org.lsst.ccs.subsystems.fcs.common.MobileItem
- - org.lsst.ccs.subsystems.fcs.AutochangerTwoTrucks

All Implemented Interfaces:

org.lsst.ccs.framework.HasLifecycle, org.lsst.ccs.framework.SignalHandler, AlertRaiser, NamedComponent

Direct Known Subclasses:

SimuAutochangerTwoTrucks
```
public class AutochangerTwoTrucks
extends MobileItem
```
This is a model for autochanger trucks. Autochanger trucks move a filter from STANDBY position to ONLINE position or HANDOFF position. ONLINE position is just in front of the focal front. STANDBY position is where an exchange can be done with the carousel. HANDOFF position is a position an exchange can be done with the loader. The trucks are moved by 2 controllers, a driver and a follower. Each controller has an absolute encoder.

Author:

virieux

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

class AutochangerTwoTrucks.ActivatedACBrakes

class AutochangerTwoTrucks.ReleasedACBrakes

Nested Classes
Modifier and Type	Class and Description
`class`	`AutochangerTwoTrucks.ActivatedACBrakes`
`class`	`AutochangerTwoTrucks.ReleasedACBrakes`

Field Summary
- Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
  agentStateService, beginTime, commandDuration, currentAction, dataProviderDictionaryService, FCSLOG, hasToWaitForEndOfAction, lock, moving, name, path, readSensorsHandle, scheduler, timeoutExceeded
- Fields inherited from interface org.lsst.ccs.subsystems.fcs.common.AlertRaiser
  alertSeparator

Constructor Summary

Constructors
Constructor and Description
`AutochangerTwoTrucks(AutochangerTruck truckXminus, AutochangerTruck truckXplus, EPOSControllerForLinearRail acTruckXminusController, EPOSControllerForLinearRail acTruckXplusController)` Build a new AutoChangerTrucksModule.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`abortAction(FcsEnumerations.MobileItemAction action, long delay)` aborts action actually running.
`void`	`activateBrakesAndDisable()` activate both brakes then go to state SwitchOnDisabled for the 2 controllers.
`void`	`alignFollower(int deltaMax)` move follower truck to driverPosition.
`void`	`alignFollowerAndMoveEmptyFromApproachToHandoff()`
`void`	`alignFollowerForLoader()`
`void`	`alignFollowerLenient()`
`void`	`alignFollowerStrict()`
`void`	`build()`
`void`	`checkConditionsForTrucksMotion()` This method sends Exceptions if the conditions for trucks motion are not filled.
`void`	`checkDeltaPosition()`
`void`	`checkPositionSensors()` This method is called at the end of actions to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position.
`void`	`configureControllers()` Configure Autochanger trucks driver and follower controllers.
`StatusDataPublishedByAutoChangerTrucks`	`createStatusDataPublishedByAutoChangerTrucks()` Creates an object to be published on the status bus.
`void`	`enableControllersAndReleaseBrake()` This method is used in the startAction method.
`void`	`endAction(FcsEnumerations.MobileItemAction action)` end current action.
`void`	`fastProfile()` change speed and acceleration profile to fast
`int`	`findTargetOnlinePosition()` Read the proximity sensors to adjust the new target online position once the preliminaryTargetPosition has been reached
`int`	`getApproachOnlinePosition()` for tests
`int`	`getApproachStandbyPosition()`
`String`	`getDriverSide()` for simu and tests
`int`	`getHandoffPosition()` Return HANDOFF position.
`int`	`getOnlinePosition()` Return ONLINE position.
`int`	`getPosition()` Return actual trucks driverPosition.
`int`	`getStandbyPosition()` Return STANDBY position.
`long`	`getTimeoutForTrucksMotion()` Return the timeout for trucks motion.
`void`	`goToHandOff()` Move Autochanger trucks to the Handoff position.
`void`	`goToHandOffForLoader()` Move Autochanger trucks to the Handoff position in order to load or unload a filter to or from the camera.
`void`	`goToOnline()` Move Autochanger trucks to the Online position.
`void`	`goToStandby()` Move Autochanger trucks to the Standby position.
`void`	`homing()` Do homing of both controllers.
`void`	`init()`
`void`	`initializeControllers()`
`boolean`	`isActionCompleted(FcsEnumerations.MobileItemAction action)`
`boolean`	`isAtHandoff()` Returns the boolean field atHandoff.
`boolean`	`isAtOnline()` Returns the boolean field atOnline.
`boolean`	`isAtStandby()` Returns the boolean field atStandby.
`boolean`	`isHomingDone()` Return true if the homing of the trucks has been done.
`boolean`	`isInitialized()` Return true if both controllers are initialized and homing of trucks are done.
`boolean`	`isPositionCorrectForExchangeWithLoader()`
`boolean`	`isPositionSensorErrorsTransient()` At the end of a motion during tests, a bad positionning of the trucks in a way that both sensors send the same value can be detected as an error.
`boolean`	`isPositionSensorsInError()` Return true if TruckXminus position sensors or TruckXminus position sensors are in error.
`void`	`moveAndClampFilterOnline()`
`void`	`moveFilterToStandby()` Move a filter to standby position step by step.
`void`	`moveFollowerTruck(int newPos)` move truck which is controlled by follower controller independently of truck which is controlled by master controller
`void`	`moveToAbsoluteTargetPosition(int targetPosition)` Move the trucks to an absolute position given as argument.
`void`	`moveToApproachOnlinePositionWithHighVelocity()`
`void`	`moveToApproachOnlinePositionWithLowVelocity()`
`void`	`moveToApproachStandbyPositionWithHighVelocity()`
`void`	`moveToApproachStandbyPositionWithLowVelocity()`
`void`	`moveToHandoffWithHighVelocity()`
`void`	`moveToStandbyEmptyWithLowVelocity()` to fix carousel unlocking mechanical issues at SLAC, a parameter standbyPositionEmpty has been created.
`void`	`moveToStandbyWithLowVelocity()`
`void`	`moveToTargetOnlinePosition()` Move a filter slowly to preliminaryTargetPosition, then computes the new target position and finally reaches it.
`boolean`	`myDevicesReady()` Return True if all CAN open devices useful for this MobileItemMobile are ready for an action.
`void`	`postStart()`
`void`	`publishData()`
`void`	`quickStopAction(FcsEnumerations.MobileItemAction action, long delay)`
`void`	`raiseProfileAcceleration()` change ProfileVelocity parameter to highSpeed
`void`	`raiseProfileDeceleration()` change ProfileVelocity parameter to highSpeed
`void`	`raiseProfileVelocity()` change ProfileVelocity parameter to highSpeed
`int`	`readPosition()` For the GUI and end users for test purpose.
`double`	`readProximitySensorDevice()`
`void`	`recoveryGoToPosition(int pos)`
`void`	`releaseTruckTensionOnClamps()` In the moveAndClampOnline process, release the tension on the clamps after they are locked by moving the trucks to a move natural position than the computed Online postion.
`void`	`setNaturalPosition(int pos)`
`void`	`shutdown()` This shutdowns the scheduler.
`void`	`slowProfile()` change speed & acceleration profile to slow
`void`	`slowProfileAcceleration()` change ProfileAcceleration parameter to lowAcceleration
`void`	`slowProfileDeceleration()` change ProfileAcceleration parameter to lowAcceleration
`void`	`slowProfileVelocity()` change ProfileVelocity parameter to lowSpeed
`void`	`startAction(FcsEnumerations.MobileItemAction action)` starts the action given as argument.
`void`	`unclampAndMoveFilterToHandoff()` For end user at console for tests only.
`void`	`updatePosition()` Updates the field position of the trucks in reading the CPU of the controller.
`void`	`updateState()`
`void`	`updateStateWithSensorsToCheckIfActionIsCompleted()` reads sensors or any device and updates state from sensors It can be also reading a position or a current on a motor controller.

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem
cancelReadingSensors, checkReadyForAction, executeAction, getActionDurationPath, getAlertService, getHaltRequired, getName, getPath, getSubsystem, isMoving, readSensorsUntilActionIsCompleted, registerAction, signal, waitForEndOfAction

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.subsystems.fcs.common.AlertRaiser
clearAlarm, getAlertSeparator, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarm, raiseAlarmOnlyIfNew, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyEveryTenMinutes, raiseAlertOnlyIfNew, raiseWarning, raiseWarning, raiseWarning, raiseWarning, raiseWarningOnlyEveryTenMinutes, raiseWarningOnlyIfNew

Methods inherited from interface org.lsst.ccs.framework.HasLifecycle
postBuild, postInit, postShutdown, start

- Constructor Detail
  - AutochangerTwoTrucks
```
public AutochangerTwoTrucks(AutochangerTruck truckXminus,
                            AutochangerTruck truckXplus,
                            EPOSControllerForLinearRail acTruckXminusController,
                            EPOSControllerForLinearRail acTruckXplusController)
```
    Build a new AutoChangerTrucksModule.
    
    Parameters:
    
    truckXminus -
    
    truckXplus -
    
    acTruckXminusController -
    
    acTruckXplusController -
- Method Detail
  - build
```
public void build()
```
  - init
```
public void init()
```
  - setNaturalPosition
```
@ConfigurationParameterChanger
public void setNaturalPosition(int pos)
```
  - getDriverSide
```
public String getDriverSide()
```
    for simu and tests
    
    Returns:
  - getPosition
```
@Command(type=QUERY,
         level=1,
         description="Return actual trucks position (master position). Doesn\'t read again the position on the controller.")
public int getPosition()
```
    Return actual trucks driverPosition. Doesn't read again the driverPosition on the controller.
    
    Returns:
  - getHandoffPosition
```
@Command(type=QUERY,
         level=1,
         description="Return HANDOFF position. Doesn\'t read again the position on the controller.")
public int getHandoffPosition()
```
    Return HANDOFF position. Doesn't read again the position on the controller.
    
    Returns:
  - getStandbyPosition
```
@Command(type=QUERY,
         level=1,
         description="Return STANDBY position. Doesn\'t read again the position on the controller.")
public int getStandbyPosition()
```
    Return STANDBY position. Doesn't read again the position on the controller.
    
    Returns:
  - getOnlinePosition
```
@Command(type=QUERY,
         level=1,
         description="Return ONLINE position. Doesn\'t read again the position on the controller.")
public int getOnlinePosition()
```
    Return ONLINE position. Doesn't read again the position on the controller.
    
    Returns:
  - getApproachStandbyPosition
```
public int getApproachStandbyPosition()
```
  - getApproachOnlinePosition
```
public int getApproachOnlinePosition()
```
    for tests
    
    Returns:
  - getTimeoutForTrucksMotion
```
@Command(type=QUERY,
         level=1,
         description="Return timeout for trucks motion.")
public long getTimeoutForTrucksMotion()
```
    Return the timeout for trucks motion. If trucks motion duration is greater than timeoutForTrucksMotion, an ALERT is raised.
    
    Returns:
    
    timeoutForTrucksMotion
  - isAtHandoff
```
@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at handoff position. This command doesn\'t read again the sensors.")
public boolean isAtHandoff()
```
    Returns the boolean field atHandoff. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atHandoff is not being updated, it returns its immediatly.
    
    Returns:
    
    atHandoff
  - isPositionCorrectForExchangeWithLoader
```
public boolean isPositionCorrectForExchangeWithLoader()
```
  - isAtOnline
```
@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at ONLINE position. This command doesn\'t read again the sensors.")
public boolean isAtOnline()
```
    Returns the boolean field atOnline. If the atOnline boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atOnline is not being updated, it returns its immediatly.
    
    Returns:
    
    atHandoff
  - isAtStandby
```
@Command(type=QUERY,
         level=0,
         description="Return true if the carrier is at STANDBY position. This command doesn\'t read again the sensors.")
public boolean isAtStandby()
```
    Returns the boolean field atStandby. If the atHandoff boolean is being updated and waits for a response from a sensor, this methods waits until update is completed. If the field atStandby is not being updated, it returns its immediatly..
    
    Returns:
    
    atStandby
  - isHomingDone
```
@Command(type=QUERY,
         level=0,
         description="Return true if the homing of the trucks has been done.")
public boolean isHomingDone()
```
    Return true if the homing of the trucks has been done.
    
    Returns:
  - isPositionSensorsInError
```
@Command(type=QUERY,
         level=0,
         description="Return true if TruckXminus position sensors or TruckXminus position sensors are in error.")
public boolean isPositionSensorsInError()
```
    Return true if TruckXminus position sensors or TruckXminus position sensors are in error. Or position sensors are non consistant.
    
    Returns:
  - isPositionSensorErrorsTransient
```
public boolean isPositionSensorErrorsTransient()
```
    At the end of a motion during tests, a bad positionning of the trucks in a way that both sensors send the same value can be detected as an error. In this case we don't raise an ALARM but a WARNING.
    
    Returns:
    
    true if position sensors error is transient
  - postStart
```
public void postStart()
```
  - initializeControllers
```
public void initializeControllers()
```
  - configureControllers
```
@Command(type=ACTION,
         level=2,
         description="Configure Autochanger trucks driver and follower controllers.",
         alias="initControllers")
public void configureControllers()
```
    Configure Autochanger trucks driver and follower controllers.
    
    Throws:
    
    FcsHardwareException
  - isInitialized
```
@Command(type=QUERY,
         level=0,
         description="Return true if both controllers are initialized and homing of trucks are done.")
public boolean isInitialized()
```
    Return true if both controllers are initialized and homing of trucks are done.
    
    Returns:
  - checkConditionsForTrucksMotion
```
@Command(type=QUERY,
         level=1,
         description="Check if the motion of trucks are allowed.")
public void checkConditionsForTrucksMotion()
```
    This method sends Exceptions if the conditions for trucks motion are not filled. Autochanger trucks motion is allowed if : - controllers are initialized - homing is done - trucks are empty OR (loaded with a filter but latches are closed AND carousel or loader doesn't hold filter)
    
    Throws:
    
    FcsHardwareException
    
    RejectedCommandException
  - goToHandOff
```
public void goToHandOff()
```
    Move Autochanger trucks to the Handoff position. If Autochanger trucks are already at HANDOFF position, it does nothing.
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - goToHandOffForLoader
```
public void goToHandOffForLoader()
```
    Move Autochanger trucks to the Handoff position in order to load or unload a filter to or from the camera. Autochanger trucks goes closer to handoff position than for exchange with carousel, in using as accuracy configurable parameter positionRangeAtHandoffForLoader.
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - goToOnline
```
public void goToOnline()
```
    Move Autochanger trucks to the Online position. If Autochanger trucks are already at ONLINE position, it does nothing.
    
    Throws:
    
    FcsHardwareException
  - goToStandby
```
public void goToStandby()
```
    Move Autochanger trucks to the Standby position. If Autochanger trucks are already at STANDBY position, it does nothing.
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - moveToAbsoluteTargetPosition
```
@Command(type=ACTION,
         level=2,
         description="Move Autochanger trucks to the absolute position given as argument. At the end of motion : doesn\'t align follower then activate brakes and disable controllers.",
         alias="mobeABSPos",
         timeout=20000)
public void moveToAbsoluteTargetPosition(int targetPosition)
```
    Move the trucks to an absolute position given as argument. Doesn't align follower at the end of motion.
    
    Parameters:
    
    targetPosition -
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - moveAndClampFilterOnline
```
public void moveAndClampFilterOnline()
```
  - unclampAndMoveFilterToHandoff
```
public void unclampAndMoveFilterToHandoff()
```
    For end user at console for tests only. Not used in setFilter command.
  - findTargetOnlinePosition
```
@Command(type=QUERY,
         level=3,
         description="Compute the actual online target position")
public int findTargetOnlinePosition()
```
    Read the proximity sensors to adjust the new target online position once the preliminaryTargetPosition has been reached
  - moveToTargetOnlinePosition
```
@Command(type=ACTION,
         level=3,
         description="Move a filter slowly to preliminaryTargetPosition, then computes the new target position and finally reaches it",
         timeout=5000)
public void moveToTargetOnlinePosition()
```
    Move a filter slowly to preliminaryTargetPosition, then computes the new target position and finally reaches it.
  - releaseTruckTensionOnClamps
```
@Command(type=ACTION,
         level=3,
         description="Release the tension on the clamps after they are locked by moving the trucks to a move natural position than the computed Online postion.",
         timeout=2000)
public void releaseTruckTensionOnClamps()
```
    In the moveAndClampOnline process, release the tension on the clamps after they are locked by moving the trucks to a move natural position than the computed Online postion.
  - moveFilterToStandby
```
public void moveFilterToStandby()
```
    Move a filter to standby position step by step. A first step with a high speed to the approachStandbyPosition. a second step to standby position with low speed.
  - moveToApproachStandbyPositionWithLowVelocity
```
public void moveToApproachStandbyPositionWithLowVelocity()
```
  - moveToApproachOnlinePositionWithLowVelocity
```
public void moveToApproachOnlinePositionWithLowVelocity()
```
  - alignFollowerAndMoveEmptyFromApproachToHandoff
```
public void alignFollowerAndMoveEmptyFromApproachToHandoff()
```
  - moveToApproachStandbyPositionWithHighVelocity
```
public void moveToApproachStandbyPositionWithHighVelocity()
```
  - moveToApproachOnlinePositionWithHighVelocity
```
public void moveToApproachOnlinePositionWithHighVelocity()
```
  - moveToStandbyWithLowVelocity
```
public void moveToStandbyWithLowVelocity()
```
  - moveToStandbyEmptyWithLowVelocity
```
public void moveToStandbyEmptyWithLowVelocity()
```
    to fix carousel unlocking mechanical issues at SLAC, a parameter standbyPositionEmpty has been created.
  - moveToHandoffWithHighVelocity
```
public void moveToHandoffWithHighVelocity()
```
  - recoveryGoToPosition
```
@Command(type=ACTION,
         level=3,
         description="goToPosition in bypassing all safety tests. Use this command only if you know what you are doing.")
public void recoveryGoToPosition(int pos)
```
  - activateBrakesAndDisable
```
@Command(type=ACTION,
         level=2,
         description="Activate brakes and disable the 2 controllers.")
public void activateBrakesAndDisable()
```
    activate both brakes then go to state SwitchOnDisabled for the 2 controllers. For end * user.
  - startAction
```
public void startAction(FcsEnumerations.MobileItemAction action)
```
    Description copied from class: MobileItem
    
    starts the action given as argument. It has to be specified in sub-classes. Usually it consist in sending a command to a controller : give a value of current or give a target position.
    
    Specified by:
    
    startAction in class MobileItem
  - abortAction
```
public void abortAction(FcsEnumerations.MobileItemAction action,
                        long delay)
```
    Description copied from class: MobileItem
    
    aborts action actually running. It has to be specified in sub-classes. It can be : write a zero value of current or send a stop command to a controller. Must not be waiting for a lock or a condition otherwise executeAction could never complete.
    
    Specified by:
    
    abortAction in class MobileItem
  - endAction
```
public void endAction(FcsEnumerations.MobileItemAction action)
```
    Description copied from class: MobileItem
    
    end current action. This command is executed systematically at the end of any action in the `finally` clause of executeAction(). It has to be specified in sub-classes. It should leave the controller in a safe state for the hardware. Must not be waiting for a lock or a condition otherwise executeAction could never complete.
    
    Specified by:
    
    endAction in class MobileItem
  - quickStopAction
```
public void quickStopAction(FcsEnumerations.MobileItemAction action,
                            long delay)
```
    Specified by:
    
    quickStopAction in class MobileItem
  - enableControllersAndReleaseBrake
```
@Command(type=ACTION,
         level=2,
         description="Enable and release brake for the 2 controllers.")
public void enableControllersAndReleaseBrake()
```
    This method is used in the startAction method. It is was has to be done before moving the trucks.
  - alignFollower
```
public void alignFollower(int deltaMax)
```
    move follower truck to driverPosition. When moving along the rails with follower controller in MASTER_ENCODER mode, at the end of motion there is a small misalignement. This consists in : setting follower controller mode to PROFILE_POSITION, go to absolute driverPosition pos, and then set follower controller mode back to MASTER_ENCODER mode. Note : switching the mode implies that brakes have to be set.
    
    Parameters:
    
    deltaMax -
  - alignFollowerLenient
```
public void alignFollowerLenient()
```
  - alignFollowerStrict
```
public void alignFollowerStrict()
```
  - alignFollowerForLoader
```
public void alignFollowerForLoader()
```
  - moveFollowerTruck
```
@Command(type=QUERY,
         level=3,
         description="move truck which is controlled by follower controller independently of truck which is controlled by driver controller")
public void moveFollowerTruck(int newPos)
```
    move truck which is controlled by follower controller independently of truck which is controlled by master controller
    
    Parameters:
    
    newPos -
  - checkPositionSensors
```
public void checkPositionSensors()
```
    This method is called at the end of actions to check that after a motion to well known position as STANDBY, HANDOFF and ONLINE, position sensors confirm the trucks position. Otherwise it throws a FailedCommandException.
    
    Throws:
    
    FcsHardwareException
  - homing
```
@Command(type=ACTION,
         level=1,
         description="Do homing for both  controllers.")
public void homing()
```
    Do homing of both controllers.
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - updatePosition
```
@Command(type=QUERY,
         level=1,
         description="Update trucks position in reading controller.")
public void updatePosition()
```
    Updates the field position of the trucks in reading the CPU of the controller. ********************************************************************* DRIVER CONTROLLER FOR truckXminus FOLLOWER CONTROLLER FOR truckXplus *********************************************************************
    
    Throws:
    
    FcsHardwareException
  - checkDeltaPosition
```
@Command(type=QUERY,
         level=1,
         description="Read position on controllers then compute difference and throw exceptionif difference is > 1000.")
public void checkDeltaPosition()
```
  - readPosition
```
@Command(type=QUERY,
         level=0,
         description="Update trucks position in reading controller and return position.")
public int readPosition()
```
    For the GUI and end users for test purpose. Update positon in reading the master controller and returns the value read.
    
    Returns:
    
    trucks driverPosition
    
    Throws:
    
    RejectedCommandException
    
    FcsHardwareException
  - readProximitySensorDevice
```
@Command(type=QUERY,
         level=0,
         description="Return a voltage in mV which represents a distance between between filterand filter beam.")
public double readProximitySensorDevice()
```
  - myDevicesReady
```
public boolean myDevicesReady()
```
    Description copied from class: MobileItem
    
    Return True if all CAN open devices useful for this MobileItemMobile are ready for an action. As an example, if this mobil item is moved by a controller and sensors are read through a sensors gateway, this method will return True when the controller and the gateway are ready to be used (booted, configured, homing done if needed).
    
    Specified by:
    
    myDevicesReady in class MobileItem
    
    Returns:
    
    true if both controllers are initialized and homing of trucks are done.
  - isActionCompleted
```
public boolean isActionCompleted(FcsEnumerations.MobileItemAction action)
```
    Specified by:
    
    isActionCompleted in class MobileItem
  - updateStateWithSensorsToCheckIfActionIsCompleted
```
public void updateStateWithSensorsToCheckIfActionIsCompleted()
```
    Description copied from class: MobileItem
    
    reads sensors or any device and updates state from sensors It can be also reading a position or a current on a motor controller. It's abstract because it'up to the sub-classes to know what to do.
    
    Specified by:
    
    updateStateWithSensorsToCheckIfActionIsCompleted in class MobileItem
  - updateState
```
public void updateState()
```
  - slowProfile
```
public void slowProfile()
```
    change speed & acceleration profile to slow
  - fastProfile
```
public void fastProfile()
```
    change speed and acceleration profile to fast
  - slowProfileVelocity
```
public void slowProfileVelocity()
```
    change ProfileVelocity parameter to lowSpeed
  - raiseProfileVelocity
```
public void raiseProfileVelocity()
```
    change ProfileVelocity parameter to highSpeed
  - raiseProfileAcceleration
```
public void raiseProfileAcceleration()
```
    change ProfileVelocity parameter to highSpeed
  - slowProfileAcceleration
```
public void slowProfileAcceleration()
```
    change ProfileAcceleration parameter to lowAcceleration
  - raiseProfileDeceleration
```
public void raiseProfileDeceleration()
```
    change ProfileVelocity parameter to highSpeed
  - slowProfileDeceleration
```
public void slowProfileDeceleration()
```
    change ProfileAcceleration parameter to lowAcceleration
  - createStatusDataPublishedByAutoChangerTrucks
```
public StatusDataPublishedByAutoChangerTrucks createStatusDataPublishedByAutoChangerTrucks()
```
    Creates an object to be published on the status bus.
    
    Returns:
  - publishData
```
public void publishData()
```
    Specified by:
    
    publishData in class MobileItem
  - shutdown
```
public void shutdown()
```
    Description copied from class: MobileItem
    
    This shutdowns the scheduler. This is executed during CLOSING phase when the MobileItemMobile is stopped. cf checkStopped
    
    Specified by:
    
    shutdown in interface org.lsst.ccs.framework.HasLifecycle
    
    Overrides:
    
    shutdown in class MobileItem

Class AutochangerTwoTrucks

Nested Class Summary

Field Summary

Fields inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem

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

Constructor Summary

Method Summary

Methods inherited from class org.lsst.ccs.subsystems.fcs.common.MobileItem

Methods inherited from class java.lang.Object

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

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

Constructor Detail

AutochangerTwoTrucks

Method Detail

build

init

setNaturalPosition

getDriverSide

getPosition

getHandoffPosition

getStandbyPosition

getOnlinePosition

getApproachStandbyPosition

getApproachOnlinePosition

getTimeoutForTrucksMotion

isAtHandoff

isPositionCorrectForExchangeWithLoader

isAtOnline

isAtStandby

isHomingDone

isPositionSensorsInError

isPositionSensorErrorsTransient

postStart

initializeControllers

configureControllers

isInitialized

checkConditionsForTrucksMotion

goToHandOff

goToHandOffForLoader

goToOnline

goToStandby

moveToAbsoluteTargetPosition

moveAndClampFilterOnline

unclampAndMoveFilterToHandoff

findTargetOnlinePosition

moveToTargetOnlinePosition

releaseTruckTensionOnClamps

moveFilterToStandby

moveToApproachStandbyPositionWithLowVelocity

moveToApproachOnlinePositionWithLowVelocity

alignFollowerAndMoveEmptyFromApproachToHandoff

moveToApproachStandbyPositionWithHighVelocity

moveToApproachOnlinePositionWithHighVelocity

moveToStandbyWithLowVelocity

moveToStandbyEmptyWithLowVelocity

moveToHandoffWithHighVelocity

recoveryGoToPosition

activateBrakesAndDisable

startAction

abortAction

endAction

quickStopAction

enableControllersAndReleaseBrake

alignFollower

alignFollowerLenient

alignFollowerStrict

alignFollowerForLoader

moveFollowerTruck

checkPositionSensors

homing

updatePosition

checkDeltaPosition

readPosition

readProximitySensorDevice

myDevicesReady

isActionCompleted

updateStateWithSensorsToCheckIfActionIsCompleted

updateState

slowProfile

fastProfile