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.

Constructor Summary

Constructors

Constructor and Description
BladeSetDrvr(ShutterSide side, BladeSetConfiguration bsetConfig, ShutterConfiguration shutterConfig, List<HallConfiguration> hallConfigs, org.lsst.ccs.drivers.parker.AcrComm acr, org.lsst.ccs.drivers.iocard.AccesDio dio) Saves the side of the camera X axis to which the blade set belongs, save configuration info and hardware control objects.

Method Summary

Modifier and Type	Method and Description
double	absoluteToEncoder(double absolute) The inverse of BladeSet.encoderToAbsolute(double).
double	absoluteToRelative(double absolute) Converts an absolute position along the camera X axis to a relative blade set position in the range [0.0, 1.0], where 0.0 means fully retracted (open) and 1.0 means fully extended (closed).
void	disableDrive() Turns off the motor drive current.
void	enableDrive() Turns on the motor drive current.
double	encoderToAbsolute(double encoderValue) Converts a motor position encoder value to an absolute position in mm of the leading edge of the blade set on the camera X axis.
double	getAbsolutePosition() Gets the current absolute position in mm.
org.lsst.ccs.drivers.parker.AxisName	getAxis() Gets the axis controlled by this object.
BladeSetConfiguration	getBladeSetConfiguration() Gets the configuration of the BladeSet.
org.lsst.ccs.drivers.parker.AcrComm	getComm() Gets the motor communications object being used.
BladeSetConfiguration	getConfig() Gets the configuration object being used.
org.lsst.ccs.drivers.iocard.AccesDio	getDio() Gets the AccesDio object being used.
double	getDriveTemperature() Gets the drive temperature.
org.lsst.ccs.drivers.parker.EncoderName	getEncoder() Gets the encoder our axis uses for motor position feedback.
int	getMoveStatus() Gets the status of the last move from the motor controller: normal or premature stop reason.
double	getRelativePosition() Gets the current position of the BladeSet.
ShutterSide	getSide() Gets the side of the shutter to which the blade set belongs.
boolean	isFullyExtended() Is the blade set fully extended? That is, is its absolute position within the shutter tolerance of the closed position?
boolean	isFullyRetracted() Is the blade set fully retracted? That is, is its absolute position within the shutter tolerance of the open position?
int	move(int type, double dist, double time) Performs a simple move without enabling Hall transition interrupts or motor controller parameter sampling.
BladeSetDrvr.SampData	moveD(int type, double dist, double time, int nSamp, int[] iParms, int[] fParms) Performs a move accompanied by parameter sampling in the motor controller.
MovementHistory	moveP(int type, double dist, double time, int nSamp) Performs a move using the standard motion program, recording periodic data samples in the motor controller.
MovementHistory	moveToPosition(double relPosition, double time) Moves the blade set to a given relative (i.e.
double	relativeToAbsolute(double relative) The inverse of BladeSet.absoluteToRelative(double).

Methods inherited from class java.lang.Object

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

Constructor Detail

BladeSetDrvr

public BladeSetDrvr(ShutterSide side,
                    BladeSetConfiguration bsetConfig,
                    ShutterConfiguration shutterConfig,
                    List<HallConfiguration> hallConfigs,
                    org.lsst.ccs.drivers.parker.AcrComm acr,
                    org.lsst.ccs.drivers.iocard.AccesDio dio)

Saves the side of the camera X axis to which the blade set belongs, save configuration info and hardware control objects. We assume that AXISn uses ENCn and DACn.

Parameters:

side - the side.

bsetConfig - the blade set-specific configuration.

shutterConfig - configuration info for the shutter in general.

hallConfigs - the list of Hall configurations, one per sensor.

acr - the object used to communicate with the ACR controller.

dio - the interface to the digital I/O card.

Method Detail

getSide

public ShutterSide getSide()

Description copied from interface: BladeSet

Gets the side of the shutter to which the blade set belongs.

Specified by:

getSide 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

getRelativePosition

public double getRelativePosition()

Description copied from interface: BladeSet

Gets the current position of the BladeSet. May cause hardware operations.

Specified by:

getRelativePosition in interface BladeSet

Returns:

the current relative position of the blade set

See Also:

BladePosition

getBladeSetConfiguration

public BladeSetConfiguration getBladeSetConfiguration()

Description copied from interface: BladeSet

Gets the configuration of the BladeSet.

Specified by:

getBladeSetConfiguration in interface BladeSet

Returns:

the BladeSet configuration

getAbsolutePosition

public double getAbsolutePosition()

Gets the current absolute position in mm.

Returns:

the position

enableDrive

public void enableDrive()

Turns on the motor drive current.

disableDrive

public void disableDrive()

Turns off the motor drive current.

move

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

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 AXISn 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

Returns:

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

moveD

public BladeSetDrvr.SampData moveD(int type,
                                   double dist,
                                   double time,
                                   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)

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)

moveP

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

Performs a move using the standard motion program, recording 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).

Parameters:

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

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

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

nSamp - the number of times to perform sampling

Returns:

a movement history with an empty list of Hall transitions

getConfig

public BladeSetConfiguration getConfig()

Gets the configuration object being used.

Returns:

the configuration

getAxis

public org.lsst.ccs.drivers.parker.AxisName getAxis()

Gets the axis controlled by this object.

getEncoder

public org.lsst.ccs.drivers.parker.EncoderName getEncoder()

Gets the encoder our axis uses for motor position feedback.

getDio

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

Gets the AccesDio object being used.

Returns:

the I/O card object

getComm

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

Gets the motor communications object being used.

Returns:

the AcrComm object

getMoveStatus

public int getMoveStatus()

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

encoderToAbsolute

public double encoderToAbsolute(double encoderValue)

Converts a motor position encoder value to an absolute position in mm of the leading edge of the blade set on the camera X axis. The formula used is position = (encoderValue - offset) / countsPerMm, where offset is the value the encoder has at absolute position == 0.0 and countsPerMm is the number of encoder counts per mm, which will be negative if the the direction of increasing encoder values is the direction of decreasing absolute position.

Specified by:

encoderToAbsolute in interface BladeSet

Parameters:

encoderValue - the value read from the encoder.

Returns:

absoluteToEncoder

public double absoluteToEncoder(double absolute)

The inverse of BladeSet.encoderToAbsolute(double).

Specified by:

absoluteToEncoder in interface BladeSet

Parameters:

absolute - the absolute position.

Returns:

the corresponding encoder value.

absoluteToRelative

public double absoluteToRelative(double absolute)

Converts an absolute position along the camera X axis to a relative blade set position in the range [0.0, 1.0], where 0.0 means fully retracted (open) and 1.0 means fully extended (closed). The formula used is relative = (absolute - absoluteOpen) / (absoluteClosed - absoluteOpen).

Specified by:

absoluteToRelative in interface BladeSet

Parameters:

absolute - the absolute position.

Returns:

the relative position.

See Also:

BladeSetConfiguration

relativeToAbsolute

public double relativeToAbsolute(double relative)

The inverse of BladeSet.absoluteToRelative(double).

Specified by:

relativeToAbsolute in interface BladeSet

Parameters:

relative - the relative position.

Returns:

the absolute position.

See Also:

BladeSetConfiguration

isFullyExtended

public boolean isFullyExtended()

Is the blade set fully extended? That is, is its absolute position within the shutter tolerance of the closed position?

Specified by:

isFullyExtended in interface BladeSet

Returns:

the answer.

See Also:

ShutterConfiguration, BladeSetConfiguration

isFullyRetracted

public boolean isFullyRetracted()

Is the blade set fully retracted? That is, is its absolute position within the shutter tolerance of the open position?

Specified by:

isFullyRetracted in interface BladeSet

Returns:

the answer.

See Also:

ShutterConfiguration, BladeSetConfiguration