org.lsst.ccs.subsystems.shutter.sim

Class MotorSimulator

java.lang.Object

org.lsst.ccs.subsystems.shutter.sim.MotorSimulator

public final class MotorSimulator
extends Object

Samples a motion profile to produce a stream of MotorPosition objects.

The physical motion profile is sampled at regular intervals, each sampling being used to make a MotorPosition object. The starting time is added to the time-since-move-start used by the profile. The sampling is done once but can be retrieved as many times as needed.

This class is used both for simulating hardware and for predicting the motor movement in the GUI.

Instances are immutable.

Author:

tether

Constructor Summary

Constructors

Constructor and Description
MotorSimulator(double startPosition, double dt, int numSamples, long startTime, MotionProfile profile) Samples the given physical motion profile.

Method Summary

Modifier and Type	Method and Description
Stream<MotorPosition>	getPositions() Returns the motor positions as a stream.

Methods inherited from class java.lang.Object

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

Constructor Detail

MotorSimulator

public MotorSimulator(double startPosition,
                      double dt,
                      int numSamples,
                      long startTime,
                      MotionProfile profile)

Samples the given physical motion profile.

Parameters:

startPosition - the absolute start position (dimensionless in [0, 1])

dt - the time between samples in seconds

numSamples - the number of positions to take

startTime - the starting time in microseconds

profile - the motion profile to be sampled

Method Detail

getPositions

public Stream<MotorPosition> getPositions()

Returns the motor positions as a stream.

Returns:

the position stream