org.lsst.ccs.subsystems.shutter.parker

Class BladeSetDrvr

java.lang.Object

org.lsst.ccs.subsystems.shutter.parker.BladeSetDrvr

All Implemented Interfaces:

BladeSet

public final class BladeSetDrvr
extends Object
implements BladeSet

Routines to perform shutter blade operations.

Definitely NOT thread-safe because any method might manipulate the hardware. Use should be confined to a single thread, or at least one at a time.

Author:

Owen Saxton, tether

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
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 Sample instances along with some general info about the move.
static class	BladeSetDrvr.Sample Inner class to hold an item of sampled data from the motor controller.

Field Summary

Fields

Modifier and Type	Field and Description
static int	HOM_OPT_NDIRN Start looking for home by going in the negative direction (decreasing absolute position).
static int	HOM_OPT_PFINAL Make the final approach to home from the positive side (higher absolute position).
static int	MOV_TYP_SCURVE Use an S-surve motion profile.
static int	MOV_TYP_TRAP Use a trapezoidal motion profile.
static double	TORQUE_LIM The limit on the motor torque expressed as amps supplied by the motor driver.

Constructor Summary

Constructors

Constructor and Description
BladeSetDrvr(int index) Finds the default configuration for the blade set and creates the hardware drivers.

Method Summary

Modifier and Type	Method and Description
BladeSetCalibration	calibNew(double dist, double time) Calibrates the Hall switch positions using continuous slow motion.
BladeSetCalibration	calibrate(double dist, double step, double time) Calibrates the Hall switch positions using a series of small movements.
void	disableDrive() Turns off the motor drive current if the "drive always on" flag is false.
void	enableDrive() Turns on the motor drive current if the "drive always on" flag is false.
org.lsst.ccs.drivers.iocard.AccesDio	getAcces() Gets the AccesDio object being used.
double	getAmbientTemperature() Gets the ambient temperature around the HCU.
BladeSetConfiguration	getBladeSetConfiguration()
org.lsst.ccs.drivers.parker.AcrComm	getComm() Gets the motor communications object being used.
BladeSetConfiguration	getConfig() Gets the configuration object being used.
double	getCurrentPosition()
double	getDriveTemperature() Gets the drive temperature.
org.lsst.ccs.drivers.iocard.Helios	getHelios() Gets the Helios object being used.
int	getIndex()
double	getPosition() Gets the current absolute position in mm.
int	home(int optns, double vel) Finds the home position for this blade set.
void	init() Completes the initialization of the hardware drivers created by the constructor.
int	move(int type, double dist, double time, double mvFract) Performs a simple move without enabling Hall transition interrupts or motor controller parameter sampling.
BladeSetDrvr.SampData	moveD(int type, double dist, double time, double mvFract, int nSamp, int[] iParms, int[] fParms) Performs a move accompanied by parameter sampling in the motor controller.
MovementHistory	moveH(int type, double dist, double time, double mvFract, int nSamp) Performs a move using the standard motion program, recording Hall switch transitions and taking periodic data samples in the motor controller.
MovementHistory	moveP(int type, double dist, double time, double mvFract, int nSamp) Works just like moveH() except that no Hall transitions are collected.
int	moveStatus() Gets the status of the last move from the motor controller: normal or premature stop reason.
MovementHistory	moveToPosition(double relPosition, double time) Moves the blade set to a given relative (i.e.
void	setDriveOff() Turns the motor drive current off and set the "drive always on" flag false.
void	setDriveOn() Turns the motor drive current on and set the "drive always on" flag true.

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

Use an S-surve motion profile.

See Also:

Constant Field Values

MOV_TYP_TRAP

public static final int MOV_TYP_TRAP

Use a trapezoidal motion profile.

See Also:

Constant Field Values

HOM_OPT_NDIRN

public static final int HOM_OPT_NDIRN

Start looking for home by going in the negative direction (decreasing absolute position).

See Also:

Constant Field Values

HOM_OPT_PFINAL

public static final int HOM_OPT_PFINAL

Make the final approach to home from the positive side (higher absolute position).

See Also:

Constant Field Values

TORQUE_LIM

public static final double TORQUE_LIM

The limit on the motor torque expressed as amps supplied by the motor driver.

See Also:

Constant Field Values

Constructor Detail

BladeSetDrvr

public BladeSetDrvr(int index)

Finds the default configuration for the blade set and creates the hardware drivers.

Parameters:

index - the index, 0 or 1, for the blade set.

Method Detail

init

public void init()

Completes the initialization of the hardware drivers created by the constructor.

Specified by:

init in interface BladeSet

getIndex

public int getIndex()

Specified by:

getIndex in interface BladeSet

moveToPosition

public MovementHistory moveToPosition(double relPosition,
                                      double time)

Moves the blade set to a given relative (i.e. fractional) position. Calls moveH() requesting S-curve motion with the sample count set from the configuration.

Specified by:

moveToPosition in interface BladeSet

Parameters:

relPosition - the target relative position

time - the duration of the motion in seconds

Returns:

the resulting movement history

getCurrentPosition

public double getCurrentPosition()

Specified by:

getCurrentPosition in interface BladeSet

getBladeSetConfiguration

public BladeSetConfiguration getBladeSetConfiguration()

Specified by:

getBladeSetConfiguration in interface BladeSet

getPosition

public double getPosition()

Gets the current absolute position in mm.

Returns:

the position

setDriveOn

public void setDriveOn()

Turns the motor drive current on and set the "drive always on" flag true.

setDriveOff

public void setDriveOff()

Turns the motor drive current off and set the "drive always on" flag false.

enableDrive

public void enableDrive()

Turns on the motor drive current if the "drive always on" flag is false.

disableDrive

public void disableDrive()

Turns off the motor drive current if the "drive always on" flag is false.

calibrate

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

Calibrates the Hall switch positions using a series of small movements.

Does a series of small movement steps for each leg and reads the Hall sensors after each one. This can take a reasonably long time if the step size is small enough to be useful. The blade set is moved away from home for the first leg and toward home for the second, regardless of the signs of dist and step.

Parameters:

dist - the total blade set travel distance for each leg in mm (sign ignored)

step - the blade set step in mm (sign ignored)

time - the duration of each step in seconds

Returns:

the calibration object

calibNew

public BladeSetCalibration calibNew(double dist,
                                    double time)

Calibrates the Hall switch positions using continuous slow motion.

Captures Hall sensor transitions while moving the blade set continuously, thereby mimicking what happens during normal shutter use. Dynamic effects are eliminated by specifying a sufficiently long period for the calibration. The blade set is moved away from home for the first leg and toward home for the second.

Parameters:

dist - the total blade set travel distance in mm (sign ignored)

time - the duration of each leg in seconds

Returns:

the calibration object

move

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

Performs a simple move without enabling Hall transition interrupts or motor controller parameter sampling. We don't use the normal motion program in the controller, instead we issue the AXIS0 JOG INC command directly.

Parameters:

type - the move type, MOV_TYP_SCURVE or MOV_TYP_TRAP

dist - the signed distance to move (change of absolute position in mm)

time - the duration of the move in seconds

mvFract - modifies a trapezoidal velocity profile. A value of 0.0 results in a standard profile whereas 1.0 results in a profile with discontinuous changes between intervals of constant velocity. Put another way, increasing the value steepens the sides of the velocity trapezoids and broadens the tops. Limited to [0.0, 0.9]. Always use 0.0 for S-curve profiles.

Returns:

the end-of-move status code (see MovementStatus)

moveD

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

Performs a move accompanied by parameter sampling in the motor controller.

Parameters:

type - see move(int, double, double, double)

dist - see move(int, double, double, double)

time - see move(int, double, double, double)

mvFract - see move(int, double, double, double)

nSamp - the number of times to perform sampling

iParms - the ID numbers of the integer parameters to record at each sampling

fParms - the ID numbers of the float parameters to record at each sampling

Returns:

a SampData filled with the sample data (if any)

moveH

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

Performs a move using the standard motion program, recording Hall switch transitions and taking periodic data samples in the motor controller. Sets the motor controller to record a given number of samples at fixed intervals. In each sample: controller millisecond clock, motor encoder value, axis status flags (not used). Since motor sampling isn't triggered by Hall transitions this method determines positions for the Hall transitions by matching sensor ID, direction of travel and transition final state against items in the current calibration.

Parameters:

type - see move(int, double, double, double)

dist - see move(int, double, double, double)

time - see move(int, double, double, double)

mvFract - see move(int, double, double, double)

nSamp - the number of times to perform sampling

Returns:

the resulting movement history

moveP

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

Works just like moveH() except that no Hall transitions are collected.

Returns:

a movement history with an empty list of Hall transitions

See Also:

moveH(int, double, double, double, int)

home

public int home(int optns,
                double vel)

Finds the home position for this blade set. See the section on Homing in the ACR Programming Guide. There are two inputs to the controller that define a Home region; one defines the negative (low) edge and the other the positive (high) edge. We do "backup" homing which means that motion continues at speed until a particular edge is reached then decelerates to a stop. Motion then resumes in the opposite direction using a different, usually much lower, speed until the same edge is crossed again. One can require that the final approach to the edge be from below, so if at this point the motion is in the required direction it stops immediately. Otherwise we have to do another deceleration and reversal.

Hitting a motion limit the first time causes motion to reverse. Hitting one a second time stops motion and causes the homing operation to fail.

Parameters:

optns - a bit mask of options. The logical OR of zero or more of:

• HOM_OPT_NDIRN
• HOM_OPT_PFINAL

vel - the velocity at which to begin the home search, mm/sec

Returns:

0 for success, -1 for failure

getConfig

public BladeSetConfiguration getConfig()

Gets the configuration object being used.

Returns:

the configuration

getAcces

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

Gets the AccesDio object being used.

Returns:

the I/O card object

getHelios

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

Gets the Helios object being used.

Returns:

the ADC unit control object

getComm

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

Gets the motor communications object being used.

Returns:

the AcrComm object

moveStatus

public int moveStatus()

Gets the status of the last move from the motor controller: normal or premature stop reason.

Returns:

0 for success or a code from MovementStatus

getDriveTemperature

public double getDriveTemperature()

Gets the drive temperature.

Returns:

the temperature in degrees Celsius

getAmbientTemperature

public double getAmbientTemperature()

Gets the ambient temperature around the HCU.

Returns:

the temperature in degrees Celsius