org.lsst.ccs.subsystem.metrology

Class AerotechP165DeviceSim

java.lang.Object

org.lsst.ccs.monitor.Device

org.lsst.ccs.subsystem.metrology.AerotechP165Device

org.lsst.ccs.subsystem.metrology.AerotechP165DeviceSim

All Implemented Interfaces:

org.lsst.ccs.framework.HardwareController, org.lsst.ccs.framework.HasLifecycle, AerotechDevice

public class AerotechP165DeviceSim
extends AerotechP165Device

AerotechP165 device class for the metrology subsystem

Field Summary

Fields inherited from class org.lsst.ccs.subsystem.metrology.AerotechP165Device

host, port

Fields inherited from class org.lsst.ccs.monitor.Device

chanMask, ctlChans, disabled, fullName, inited, lineMask, lineState, lineWarm, log, mon, name, online, s

Constructor Summary

Constructors

Constructor and Description
AerotechP165DeviceSim()

Method Summary

Modifier and Type	Method and Description
void	abort() abort any motion
String	aerotechChat(String command) Send command
protected void	close() Closes the connection.
void	disableAxes() disable axes
void	enableAxes() enable axes
void	fullreset() reset controller
String	getError() get errors
double	getPosX() get x position
double	getPosY() get y position
double	getPosZ() get z position
String	getVersion() gets version of the Ensemble controller
void	goHome() go to home position
protected void	initDevice() Performs basic initialization.
protected void	initialize() Fully initializes the device.
void	moveAbsX(double xpos) absolute move in x
void	moveAbsXY(double xpos, double ypos) absolute move in x and y
void	moveAbsXYZ(double xpos, double ypos, double zpos) absolute move in x, y and z
void	moveAbsY(double ypos) absolute move in y
void	moveAbsZ(double zpos) absolute move in z
void	moveIncX(double dx) incremental move in x
void	moveIncXY(double dx, double dy) incremental move in x and y
void	moveIncXYZ(double dx, double dy, double dz) incremental move in x, y and z
void	moveIncY(double dy) incremental move in y
void	moveIncZ(double dz) incremental move in z
void	rampRate(double rate) rampRate: step/s^2
void	reconnect() reconnect
void	reset() acknowledge errors
void	setSpeed(double velocity) setSpeed: step/s
void	setupHome(int mode) setup homing
void	softHighLim(String axis, int param) setup high position limit
void	softLowLim(String axis, int param) setup low position limit

Methods inherited from class org.lsst.ccs.subsystem.metrology.AerotechP165Device

checkChannel, getLastPosX, getLastPosY, getLastPosZ, getPosXYZ, getState, getxOffset, getyOffset, getzOffset, readChannel, setState, setxOffset, setyOffset, setzOffset

Methods inherited from class org.lsst.ccs.monitor.Device

addChannel, addLine, checkHardware, checkHwLine, checkLine, checkOnline, checkTimeout, configure, disable, dropChannel, enable, getFullName, getName, getOutputLines, init, initChannel, initChannel, initSensors, isHwLineSet, isLineSet, isOnline, isTimeout, readChannelGroup, readChannelNow, readSensors, setHwLine, setLine, setLineWarm, setOnline, setOutputLines, testOnline

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.subsystem.metrology.AerotechDevice

getLastPos_x, getLastPos_y, getLastPos_z, getPos_x, getPos_xyz, getPos_y, getPos_z, moveAbs_x, moveAbs_xy, moveAbs_xyz, moveAbs_y, moveAbs_z, moveInc_x, moveInc_xy, moveInc_xyz, moveInc_y, moveInc_z

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

checkStarted, checkStopped

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

build, postBuild, postInit, postShutdown, postStart, postStop, start, stop

Constructor Detail

AerotechP165DeviceSim

public AerotechP165DeviceSim()

Method Detail

initDevice

protected void initDevice()

Performs basic initialization.

Overrides:

initDevice in class AerotechP165Device

initialize

protected void initialize()

Fully initializes the device.

Overrides:

initialize in class AerotechP165Device

close

protected void close()

Closes the connection.

Overrides:

close in class AerotechP165Device

getVersion

public String getVersion()

gets version of the Ensemble controller

Specified by:

getVersion in interface AerotechDevice

Overrides:

getVersion in class AerotechP165Device

Returns:

Version string

abort

public void abort()

abort any motion

Specified by:

abort in interface AerotechDevice

Overrides:

abort in class AerotechP165Device

enableAxes

public void enableAxes()

enable axes

Specified by:

enableAxes in interface AerotechDevice

Overrides:

enableAxes in class AerotechP165Device

disableAxes

public void disableAxes()

disable axes

Specified by:

disableAxes in interface AerotechDevice

Overrides:

disableAxes in class AerotechP165Device

setSpeed

public void setSpeed(double velocity)

setSpeed: step/s

Specified by:

setSpeed in interface AerotechDevice

Overrides:

setSpeed in class AerotechP165Device

Parameters:

velocity -

rampRate

public void rampRate(double rate)

rampRate: step/s^2

Specified by:

rampRate in interface AerotechDevice

Overrides:

rampRate in class AerotechP165Device

Parameters:

rate -

moveIncX

public void moveIncX(double dx)

incremental move in x

Specified by:

moveIncX in interface AerotechDevice

Overrides:

moveIncX in class AerotechP165Device

Parameters:

dx -

moveIncY

public void moveIncY(double dy)

incremental move in y

Specified by:

moveIncY in interface AerotechDevice

Overrides:

moveIncY in class AerotechP165Device

Parameters:

dy -

moveIncZ

public void moveIncZ(double dz)

incremental move in z

Specified by:

moveIncZ in interface AerotechDevice

Overrides:

moveIncZ in class AerotechP165Device

Parameters:

dz -

moveIncXY

public void moveIncXY(double dx,
                      double dy)

incremental move in x and y

Specified by:

moveIncXY in interface AerotechDevice

Overrides:

moveIncXY in class AerotechP165Device

Parameters:

dx -

dy -

moveIncXYZ

public void moveIncXYZ(double dx,
                       double dy,
                       double dz)

incremental move in x, y and z

Specified by:

moveIncXYZ in interface AerotechDevice

Overrides:

moveIncXYZ in class AerotechP165Device

Parameters:

dx -

dy -

dz -

moveAbsX

public void moveAbsX(double xpos)

absolute move in x

Specified by:

moveAbsX in interface AerotechDevice

Overrides:

moveAbsX in class AerotechP165Device

Parameters:

xpos -

moveAbsY

public void moveAbsY(double ypos)

absolute move in y

Specified by:

moveAbsY in interface AerotechDevice

Overrides:

moveAbsY in class AerotechP165Device

Parameters:

ypos -

moveAbsZ

public void moveAbsZ(double zpos)

absolute move in z

Specified by:

moveAbsZ in interface AerotechDevice

Overrides:

moveAbsZ in class AerotechP165Device

Parameters:

zpos -

moveAbsXY

public void moveAbsXY(double xpos,
                      double ypos)

absolute move in x and y

Specified by:

moveAbsXY in interface AerotechDevice

Overrides:

moveAbsXY in class AerotechP165Device

Parameters:

xpos -

ypos -

moveAbsXYZ

public void moveAbsXYZ(double xpos,
                       double ypos,
                       double zpos)

absolute move in x, y and z

Specified by:

moveAbsXYZ in interface AerotechDevice

Overrides:

moveAbsXYZ in class AerotechP165Device

Parameters:

xpos -

ypos -

zpos -

getPosX

public double getPosX()

get x position

Specified by:

getPosX in interface AerotechDevice

Overrides:

getPosX in class AerotechP165Device

Returns:

The position

getPosY

public double getPosY()

get y position

Specified by:

getPosY in interface AerotechDevice

Overrides:

getPosY in class AerotechP165Device

Returns:

The position

getPosZ

public double getPosZ()

get z position

Specified by:

getPosZ in interface AerotechDevice

Overrides:

getPosZ in class AerotechP165Device

Returns:

The position

getError

public String getError()

get errors

Specified by:

getError in interface AerotechDevice

Overrides:

getError in class AerotechP165Device

Returns:

The error string

goHome

public void goHome()

go to home position

Specified by:

goHome in interface AerotechDevice

Overrides:

goHome in class AerotechP165Device

setupHome

public void setupHome(int mode)

setup homing

Specified by:

setupHome in interface AerotechDevice

Overrides:

setupHome in class AerotechP165Device

Parameters:

mode - The homing mode

softLowLim

public void softLowLim(String axis,
                       int param)

setup low position limit

Specified by:

softLowLim in interface AerotechDevice

Overrides:

softLowLim in class AerotechP165Device

Parameters:

axis - The axis name

param - The limit

softHighLim

public void softHighLim(String axis,
                        int param)

setup high position limit

Specified by:

softHighLim in interface AerotechDevice

Overrides:

softHighLim in class AerotechP165Device

Parameters:

axis - The axis name

param - The limit

reset

public void reset()

acknowledge errors

Specified by:

reset in interface AerotechDevice

Overrides:

reset in class AerotechP165Device

fullreset

public void fullreset()

reset controller

Specified by:

fullreset in interface AerotechDevice

Overrides:

fullreset in class AerotechP165Device

reconnect

public void reconnect()

reconnect

Specified by:

reconnect in interface AerotechDevice

Overrides:

reconnect in class AerotechP165Device

aerotechChat

public String aerotechChat(String command)

Send command

Overrides:

aerotechChat in class AerotechP165Device

Returns:

The response (echoed command)