org.lsst.ccs.subsystems.shutter.driver
Class BladeSetDrvr

java.lang.Object
  org.lsst.ccs.subsystems.shutter.driver.BladeSetDrvr

All Implemented Interfaces:

BladeSet

public class BladeSetDrvr
extends Object
implements BladeSet

Routines to perform shutter blade operations

Author:

Owen Saxton

Nested Class Summary

static class	BladeSetDrvr.Hall Inner class to hold a set of raw Hall sensor data
static class	BladeSetDrvr.HallItem Inner class to hold an item of raw Hall sensor data
static class	BladeSetDrvr.SampData Inner class to hold a set of special move data samples
static class	BladeSetDrvr.Sample Inner class to hold an item of sampled data

Field Summary

static int	HOM_OPT_NDIRN Public constants
static int	HOM_OPT_PFINAL Public constants
static int	MOV_TYP_SCURVE Public constants
static int	MOV_TYP_TRAP Public constants
static float	TORQUE_LIM

Constructor Summary

BladeSetDrvr()

Method Summary

void	addHallSensorListener(HallSensorListener l) Adds a Hall sensor listener
void	addMovementHistoryListener(MovementHistoryListener l) Adds a movement history listener
BladeSetCalibration	calibNew(float dist, float time) Calibrates the Hall switch positions (new test)
BladeSetCalibration	calibrate(float dist, float step, float time) Calibrates the Hall switch positions, moving in both directions
void	disableDrive() Disables the drive
void	enableDrive() Enables the drive
org.lsst.ccs.drivers.iocard.AccesDio	getAcces() Returns the AccesDio object being used
float	getAmbientTemperature() Gets the ambient temperature
BladeSetConfiguration	getBladeSetConfiguration() Returns the configuration object being used
BladeSetCalibration	getCalib() Gets the Hall calibration data
org.lsst.ccs.drivers.parker.AcrComm	getComm() Returns the motor communications object being used
BladeSetConfiguration	getConfig() Returns the configuration object being used
float	getCurrentPosition() Returns the current blade set relative (i.e.
float	getDriveTemperature() Gets the drive temperature
org.lsst.ccs.drivers.iocard.Helios	getHelios() Returns the Helios object being used
int	getIndex() Gets the blade set index
float	getPosition() Gets the current blade set position as a distance
int	home(int optns, float vel) Homes the shutter
int	move(int type, float dist, float time, float mvFract) Performs a move
BladeSetDrvr.SampData	moveD(int type, float dist, float time, float mvFract, int nSamp, int[] iParms, int[] fParms) Performs a move, recording various parameters periodically
MovementHistory	moveH(int type, float dist, float time, float mvFract, int nSamp) Performs a move, recording both Hall switch transitions and periodic encoder values
MovementHistory	moveP(int type, float dist, float time, float mvFract, int nSamp) Performs a move, sampling the position periodically
int	moveStatus() Gets the status of a move: normal; or premature stop reason
void	moveToPosition(float relPosition, float time) Moves the blade set to a given relative (i.e.
void	removeHallSensorListener(HallSensorListener l) Removes a Hall sensor listener
void	removeMovementHistoryListener(MovementHistoryListener l) Removes a movement history listener
void	setCalib(BladeSetCalibration list) Sets the Hall calibration data
void	setDriveOff() Turns the drive off
void	setDriveOn() Turns the drive on and leaves it on
void	setIndex(int index) Sets the blade set index, and hence its configuration

Methods inherited from class java.lang.Object

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

Field Detail

MOV_TYP_SCURVE

public static final int MOV_TYP_SCURVE

Public constants

See Also:

Constant Field Values

MOV_TYP_TRAP

public static final int MOV_TYP_TRAP

Public constants

See Also:

Constant Field Values

HOM_OPT_NDIRN

public static final int HOM_OPT_NDIRN

Public constants

See Also:

Constant Field Values

HOM_OPT_PFINAL

public static final int HOM_OPT_PFINAL

Public constants

See Also:

Constant Field Values

TORQUE_LIM

public static final float TORQUE_LIM

See Also:

Constant Field Values

Constructor Detail

BladeSetDrvr

public BladeSetDrvr()

Method Detail

setIndex

public void setIndex(int index)

Sets the blade set index, and hence its configuration

Specified by:

setIndex in interface BladeSet

getIndex

public int getIndex()

Gets the blade set index

Specified by:

getIndex in interface BladeSet

moveToPosition

public void moveToPosition(float relPosition,
                           float time)

Moves the blade set to a given relative (i.e. fractional) position

Specified by:

moveToPosition in interface BladeSet

Parameters:

relPosition - Position of the leading blade to move to. This is a number [0,1] where 0 means fully open and 1 is fully closed.

time - How long it should take in seconds reach the position.

getCurrentPosition

public float getCurrentPosition()

Returns the current blade set relative (i.e. fractional) position

Specified by:

getCurrentPosition in interface BladeSet

Returns:

The current position of the BladeSet, a number in the fuzzy range [0,1].

getBladeSetConfiguration

public BladeSetConfiguration getBladeSetConfiguration()

Returns the configuration object being used

Specified by:

getBladeSetConfiguration in interface BladeSet

Returns:

The BladeSet configuration.

addMovementHistoryListener

public void addMovementHistoryListener(MovementHistoryListener l)

Adds a movement history listener

Specified by:

addMovementHistoryListener in interface BladeSet

removeMovementHistoryListener

public void removeMovementHistoryListener(MovementHistoryListener l)

Removes a movement history listener

Specified by:

removeMovementHistoryListener in interface BladeSet

addHallSensorListener

public void addHallSensorListener(HallSensorListener l)

Adds a Hall sensor listener

Specified by:

addHallSensorListener in interface BladeSet

removeHallSensorListener

public void removeHallSensorListener(HallSensorListener l)

Removes a Hall sensor listener

Specified by:

removeHallSensorListener in interface BladeSet

getPosition

public float getPosition()

Gets the current blade set position as a distance

setDriveOn

public void setDriveOn()

Turns the drive on and leaves it on

setDriveOff

public void setDriveOff()

Turns the drive off

enableDrive

public void enableDrive()

Enables the drive

disableDrive

public void disableDrive()

Disables the drive

calibrate

public BladeSetCalibration calibrate(float dist,
                                     float step,
                                     float time)

Calibrates the Hall switch positions, moving in both directions

calibNew

public BladeSetCalibration calibNew(float dist,
                                    float time)

Calibrates the Hall switch positions (new test)

setCalib

public void setCalib(BladeSetCalibration list)

Sets the Hall calibration data

getCalib

public BladeSetCalibration getCalib()

Gets the Hall calibration data

move

public int move(int type,
                float dist,
                float time,
                float mvFract)

Performs a move

moveD

public BladeSetDrvr.SampData moveD(int type,
                                   float dist,
                                   float time,
                                   float mvFract,
                                   int nSamp,
                                   int[] iParms,
                                   int[] fParms)

Performs a move, recording various parameters periodically

moveH

public MovementHistory moveH(int type,
                             float dist,
                             float time,
                             float mvFract,
                             int nSamp)

Performs a move, recording both Hall switch transitions and periodic encoder values

moveP

public MovementHistory moveP(int type,
                             float dist,
                             float time,
                             float mvFract,
                             int nSamp)

Performs a move, sampling the position periodically

home

public int home(int optns,
                float vel)

Homes the shutter

getConfig

public BladeSetConfiguration getConfig()

Returns the configuration object being used

getAcces

public org.lsst.ccs.drivers.iocard.AccesDio getAcces()

Returns the AccesDio object being used

getHelios

public org.lsst.ccs.drivers.iocard.Helios getHelios()

Returns the Helios object being used

getComm

public org.lsst.ccs.drivers.parker.AcrComm getComm()

Returns the motor communications object being used

moveStatus

public int moveStatus()

Gets the status of a move: normal; or premature stop reason

getDriveTemperature

public float getDriveTemperature()

Gets the drive temperature

getAmbientTemperature

public float getAmbientTemperature()

Gets the ambient temperature