org.mbari.siam.distributed.devices
Interface ElmoIF

All Superinterfaces:

java.rmi.Remote

All Known Subinterfaces:

ElmoLouverIF, ElmoThrusterIF

All Known Implementing Classes:

ElmoImpl, ElmoLocal, ElmoLouver, ElmoService, ElmoThruster, ESWPump

public interface ElmoIF
extends java.rmi.Remote

Remote Interface for operating the FOCE louvers via remote methods implemented by the instrument service.

Method Summary

void	beginMotion() start motion using current settings n
double	counts2orpm(int counts) Convert output shaft speed (counts/sec) to (rpm) (at output after gear train) (using gear ratio and counts per revolution)
double	counts2rpm(int counts) Convert motor speed (counts/sec) to (rpm) (before gear train) (using countsPerRevolution)
void	delay(long delayMsec) delay for specified number of milliseconds
int	getCountsPerRevolution() Get commutation counts per motor revolution.
int	getEncoderVelocity() get motor feedback velocity in counts/sec.
int	getEncoderVelocity(int nSamples) get (average of nSamples) motor feedback velocity in counts/sec.
int	getFaultRegister() return detailed motor fault information.
double	getGearRatio() Get the gear ratio between the motor and the output shaft.
int	getJoggingVelocity() get motor jogging (commanded) velocity in counts/sec.
long	getPositionCounter() Get motor position counter for position modes
long	getPositionError() Get difference (counts) between commanded and actual position if available
int	getStatusRegister() return motor status.
void	initializeController() Initialize motor controller
void	initializeController(int serialMode, int countsPerRevolution, double gearRatio, int mode, int acceleration, int deceleration, int stopDeceleration)
boolean	isEnabled() return motor enabled (MO) status.
void	jog(int counts) command motor velocity in counts/sec
int	orpm2counts(double orpm) Convert output shaft speed (rpm) to (counts/sec) (at output after gear train) (using gear ratio and counts per revolution)
void	ptpAbsolute(long position, boolean wait) Move motor to absolute position Motion may be subject to modulo position counting modes in effect.
void	ptpRelative(long distanceCounts, boolean wait) Move motor relative to current position
java.lang.String	readRegister(java.lang.String register) read an Elmo register value
int	rpm2counts(double rpm) Convert motor speed (rpm) to (counts/sec) (before gear train) (using countsPerRevolution)
void	setCountsPerRevolution(int countsPerRevolution) Set commutation counts per motor revolution.
void	setEnable(boolean value, long timeoutMsec) enable/disable the motor.
void	setGearRatio(double value) Set the gear ratio between the motor and the output shaft.
void	setJoggingVelocity(int counts) set motor velocity in counts Do not initiate motion
void	setPositionCounter(long positionCounts) Set motor position counter for position modes
void	setPTPSpeed(int counts) set motor PTP velocity (used for Absolute motion) in counts Do not initiate motion
void	setSerialMode(int mode) Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)
java.lang.String	showConfiguration() show current configuration information

Method Detail

initializeController

void initializeController()
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.Exception,
                                 java.rmi.RemoteException

Initialize motor controller

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

java.rmi.RemoteException

initializeController

void initializeController(int serialMode,
                          int countsPerRevolution,
                          double gearRatio,
                          int mode,
                          int acceleration,
                          int deceleration,
                          int stopDeceleration)
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.Exception,
                                 java.rmi.RemoteException

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

java.rmi.RemoteException

rpm2counts

int rpm2counts(double rpm)
               throws java.lang.Exception,
                      java.rmi.RemoteException

Convert motor speed (rpm) to (counts/sec) (before gear train) (using countsPerRevolution)

Throws:

java.lang.Exception

java.rmi.RemoteException

counts2rpm

double counts2rpm(int counts)
                  throws java.lang.Exception,
                         java.rmi.RemoteException

Convert motor speed (counts/sec) to (rpm) (before gear train) (using countsPerRevolution)

Throws:

java.lang.Exception

java.rmi.RemoteException

orpm2counts

int orpm2counts(double orpm)
                throws java.lang.Exception,
                       java.rmi.RemoteException

Convert output shaft speed (rpm) to (counts/sec) (at output after gear train) (using gear ratio and counts per revolution)

Throws:

java.lang.Exception

java.rmi.RemoteException

counts2orpm

double counts2orpm(int counts)
                   throws java.lang.Exception,
                          java.rmi.RemoteException

Convert output shaft speed (counts/sec) to (rpm) (at output after gear train) (using gear ratio and counts per revolution)

Throws:

java.lang.Exception

java.rmi.RemoteException

setSerialMode

void setSerialMode(int mode)
                   throws java.lang.IllegalArgumentException,
                          java.rmi.RemoteException

Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)

Throws:

java.lang.IllegalArgumentException

java.rmi.RemoteException

setCountsPerRevolution

void setCountsPerRevolution(int countsPerRevolution)
                            throws java.lang.IllegalArgumentException,
                                   java.rmi.RemoteException

Set commutation counts per motor revolution. Depends on motor type (number of poles, etc.)

Throws:

java.lang.IllegalArgumentException

java.rmi.RemoteException

getCountsPerRevolution

int getCountsPerRevolution()
                           throws java.rmi.RemoteException

Get commutation counts per motor revolution. Depends on motor type (number of poles, etc.)

Throws:

java.rmi.RemoteException

setEnable

void setEnable(boolean value,
               long timeoutMsec)
               throws TimeoutException,
                      java.io.IOException,
                      java.lang.NullPointerException,
                      java.lang.IllegalArgumentException,
                      java.lang.Exception,
                      java.rmi.RemoteException

enable/disable the motor.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

setGearRatio

void setGearRatio(double value)
                  throws java.lang.IllegalArgumentException,
                         java.rmi.RemoteException

Set the gear ratio between the motor and the output shaft. For example, if the output shaft turns 67.5 times slower than the motor, the gear ratio should be set to 67.5.

Throws:

java.lang.IllegalArgumentException

java.rmi.RemoteException

getGearRatio

double getGearRatio()
                    throws java.rmi.RemoteException

Get the gear ratio between the motor and the output shaft. For example, if the output shaft turns 67.5 times slower than the motor, the gear ratio should be set to 67.5.

Throws:

java.rmi.RemoteException

setPositionCounter

void setPositionCounter(long positionCounts)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception,
                               java.rmi.RemoteException

Set motor position counter for position modes

Parameters:

positionCounts - new value of position counter (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getPositionCounter

long getPositionCounter()
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.Exception,
                               java.rmi.RemoteException

Get motor position counter for position modes

Returns:

position counter (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

java.rmi.RemoteException

getJoggingVelocity

int getJoggingVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception,
                              java.rmi.RemoteException

get motor jogging (commanded) velocity in counts/sec.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getEncoderVelocity

int getEncoderVelocity()
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception,
                              java.rmi.RemoteException

get motor feedback velocity in counts/sec.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getEncoderVelocity

int getEncoderVelocity(int nSamples)
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.IllegalArgumentException,
                              java.lang.Exception,
                              java.rmi.RemoteException

get (average of nSamples) motor feedback velocity in counts/sec.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

isEnabled

boolean isEnabled()
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception,
                         java.rmi.RemoteException

return motor enabled (MO) status.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getStatusRegister

int getStatusRegister()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.IllegalArgumentException,
                             java.lang.Exception,
                             java.rmi.RemoteException

return motor status.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getFaultRegister

int getFaultRegister()
                     throws TimeoutException,
                            java.io.IOException,
                            java.lang.NullPointerException,
                            java.lang.IllegalArgumentException,
                            java.lang.Exception,
                            java.rmi.RemoteException

return detailed motor fault information.

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getPositionError

long getPositionError()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.Exception,
                             java.rmi.RemoteException

Get difference (counts) between commanded and actual position if available

Returns:

position error (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

java.rmi.RemoteException

setJoggingVelocity

void setJoggingVelocity(int counts)
                        throws TimeoutException,
                               java.io.IOException,
                               java.lang.NullPointerException,
                               java.lang.IllegalArgumentException,
                               java.lang.Exception,
                               java.rmi.RemoteException

set motor velocity in counts Do not initiate motion

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

setPTPSpeed

void setPTPSpeed(int counts)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception,
                        java.rmi.RemoteException

set motor PTP velocity (used for Absolute motion) in counts Do not initiate motion

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

showConfiguration

java.lang.String showConfiguration()
                                   throws TimeoutException,
                                          java.io.IOException,
                                          java.lang.NullPointerException,
                                          java.lang.IllegalArgumentException,
                                          java.lang.Exception,
                                          java.rmi.RemoteException

show current configuration information

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

readRegister

java.lang.String readRegister(java.lang.String register)
                              throws TimeoutException,
                                     java.io.IOException,
                                     java.lang.NullPointerException,
                                     java.lang.IllegalArgumentException,
                                     java.lang.Exception

read an Elmo register value

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

beginMotion

void beginMotion()
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception,
                        java.rmi.RemoteException

start motion using current settings n

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

jog

void jog(int counts)
         throws TimeoutException,
                java.io.IOException,
                java.lang.NullPointerException,
                java.lang.IllegalArgumentException,
                java.lang.Exception,
                java.rmi.RemoteException

command motor velocity in counts/sec

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

ptpRelative

void ptpRelative(long distanceCounts,
                 boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception,
                        java.rmi.RemoteException

Move motor relative to current position

Parameters:

distanceCounts - distance to move (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

ptpAbsolute

void ptpAbsolute(long position,
                 boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception,
                        java.rmi.RemoteException

Move motor to absolute position Motion may be subject to modulo position counting modes in effect.

Parameters:

position - to move to (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

delay

void delay(long delayMsec)
           throws java.rmi.RemoteException

delay for specified number of milliseconds

Parameters:

delayMsec - delay duration in milliseconds

Throws:

java.rmi.RemoteException