org.mbari.siam.distributed.devices
Interface ElmoLouverIF

All Superinterfaces:
ElmoIF, java.rmi.Remote
All Known Implementing Classes:
ElmoImpl, ElmoLocal, ElmoLouver

public interface ElmoLouverIF
extends ElmoIF

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


Method Summary
 long center(int speedCounts)
          Find the center of the current Hall effect feedback position.
 long findBoundary(boolean positive, int speedCounts)
          Find and stop at the nearest Hall sensor feedback transition location.
 boolean getInvertHallPosition()
          If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15.
 double getLouverPositionDegrees()
          Get louver position (in engineering units)
 double getLouverPositionPercent()
          Get louver position (as a percent of full travel)
 java.lang.String getLouverSampleMessage()
          return a (terse) message indicating the state of several motor registers
 java.lang.String getLouverStatusMessage()
          return a message indicating the state of several motor registers
 void home(int position, boolean setPx, long counterValue, int vLo, int vHi)
          Home to one of the louver's 16 Hall effect position feedback switches.
 void home(int position, int velocityCounts)
          Home to one of the louver's 16 Hall effect position feedback switches.
 void setInvertHallPosition(boolean value)
          If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15.
 void setLouverDegrees(double positionDegrees)
          Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax.
 void setLouverPercent(double positionPercent)
          Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax.
 
Methods inherited from interface org.mbari.siam.distributed.devices.ElmoIF
beginMotion, counts2orpm, counts2rpm, delay, getCountsPerRevolution, getEncoderVelocity, getEncoderVelocity, getFaultRegister, getGearRatio, getJoggingVelocity, getPositionCounter, getPositionError, getStatusRegister, initializeController, initializeController, isEnabled, jog, orpm2counts, ptpAbsolute, ptpRelative, readRegister, rpm2counts, setCountsPerRevolution, setEnable, setGearRatio, setJoggingVelocity, setPositionCounter, setPTPSpeed, setSerialMode, showConfiguration
 

Method Detail

setInvertHallPosition

void setInvertHallPosition(boolean value)
                           throws java.rmi.RemoteException
If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15. This is used when the feedback board may be mounted in either direction along the lead screw axis while maintaining the same logical feedback sense (0 is closed, 15 is open)

Throws:
java.rmi.RemoteException

getInvertHallPosition

boolean getInvertHallPosition()
                              throws java.rmi.RemoteException
If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15. This is used when the feedback board may be mounted in either direction along the lead screw axis while maintaining the same logical feedback sense (0 is closed, 15 is open)

Throws:
java.rmi.RemoteException

findBoundary

long findBoundary(boolean positive,
                  int speedCounts)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception,
                         java.rmi.RemoteException
Find and stop at the nearest Hall sensor feedback transition location. Throws IllegalArgumentException if current position is above upper or below lower hall feedback limit (0x0, 0xF),

Parameters:
positive - If positive is true, find the transition by moving in the positive direction, otherwise move in the negative direction.
speedCounts - operate at speedCounts counts/sec
Returns:
position counter value at transition
Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

center

long center(int speedCounts)
            throws TimeoutException,
                   java.io.IOException,
                   java.lang.NullPointerException,
                   java.lang.IllegalArgumentException,
                   java.lang.Exception
Find the center of the current Hall effect feedback position. Notes: - Disables the motor

Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception

home

void home(int position,
          int velocityCounts)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception,
                 java.rmi.RemoteException
Home to one of the louver's 16 Hall effect position feedback switches. Use the current speed motion settings and do not change the position counter.

Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

home

void home(int position,
          boolean setPx,
          long counterValue,
          int vLo,
          int vHi)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception,
                 java.rmi.RemoteException
Home to one of the louver's 16 Hall effect position feedback switches. use the specified speed setting and optionally set the position counter at the home position

Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

setLouverPercent

void setLouverPercent(double positionPercent)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception,
                             java.rmi.RemoteException
Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax. Position is expressed as a percentage of full range, 1.0 being open and 0.0 being closed.

Throws:
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

setLouverDegrees

void setLouverDegrees(double positionDegrees)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception,
                             java.rmi.RemoteException
Set an interpolated louver position between _louverUnitsMin and _louverUnitsMax. Position is expressed in engineering units.

Throws:
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

getLouverPositionDegrees

double getLouverPositionDegrees()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception,
                                       java.rmi.RemoteException
Get louver position (in engineering units)

Returns:
louver position (degrees)
Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.Exception
java.rmi.RemoteException

getLouverPositionPercent

double getLouverPositionPercent()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception,
                                       java.rmi.RemoteException
Get louver position (as a percent of full travel)

Returns:
louver position (percent, 0.0-1.0)
Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.Exception
java.rmi.RemoteException

getLouverStatusMessage

java.lang.String getLouverStatusMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.NullPointerException,
                                               java.lang.IllegalArgumentException,
                                               java.lang.Exception,
                                               java.rmi.RemoteException
return a message indicating the state of several motor registers

Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException

getLouverSampleMessage

java.lang.String getLouverSampleMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.NullPointerException,
                                               java.lang.IllegalArgumentException,
                                               java.lang.Exception,
                                               java.rmi.RemoteException
return a (terse) message indicating the state of several motor registers

Throws:
TimeoutException
java.io.IOException
java.lang.NullPointerException
java.lang.IllegalArgumentException
java.lang.Exception
java.rmi.RemoteException


Copyright © 2003 MBARI.

The Monterey Bay Aquarium Research Institute (MBARI) provides this documentation and code "as is", with no warranty, express or implied, of its quality or consistency. It is provided without support and without obligation on the part of MBARI to assist in its use, correction, modification, or enhancement.