org.mbari.siam.foce.devices.elmo.base
Class ElmoImpl

java.lang.Object
  org.mbari.siam.foce.devices.elmo.base.ElmoImpl

All Implemented Interfaces:

java.rmi.Remote, ElmoIF, ElmoLouverIF, ElmoThrusterIF

Direct Known Subclasses:

ElmoLocal

public class ElmoImpl
extends java.lang.Object
implements ElmoIF, ElmoLouverIF, ElmoThrusterIF

Field Summary

protected int	_countsPerRevolution Motor counts per motor revolution (before gear rection)
protected Elmo	_elmo Elmo implementation (ElmoSolo, etc.; Elmo is abstract)
protected double	_gearRatio default gear reduction ratio
protected static org.apache.log4j.Logger	_log4j Log4j logger
protected int	_maxMotorCounts
protected int	_minMotorCounts
protected gnu.io.SerialPort	_motorSerialPort forward controller serial port
protected long	_tsElapsedMS
protected long	_tsStartTimeMS
protected int	_tsState
protected long	_tsTriggerCount
protected boolean	_turnSensorEnabled
protected boolean	_turnSensorReset
static boolean	ABOVE constant indicates next highest (logical) hall sensor boundary
static boolean	BELOW constant indicates next lowest (logical) hall sensor boundary
static double	DOUBLE_LIMIT_ZERO
static int	HALL_ACTIVE_MASK mask for bits indicating digitial input logical pin state
static int	HALL_DISTANCE_COUNTS Distance (in motor counts) between louver feedback hall sensors
static int	HALL_PINSTATE_MASK mask for bits indicating digital input physical pin state
static int	HALL_PINSTATE_START_BIT first bit of pin state in digital input port (used for bit shifting)
static int	INT_LIMIT_ZERO
static long	LONG_LIMIT_ZERO
static long	LOUVER_COUNTS_LIMIT_MAX
static long	LOUVER_COUNTS_LIMIT_MIN
static double	LOUVER_DEGREES_LIMIT_MAX
static double	LOUVER_DEGREES_LIMIT_MIN
static int	LOUVER_HALL_LIMIT_MAX
static int	LOUVER_HALL_LIMIT_MIN
static double	LOUVER_PERCENT_LIMIT_MAX
static double	LOUVER_PERCENT_LIMIT_MIN
static int	MAX_DIGITAL_INPUT_BIT
static long	serialVersionUID serial version, for Serializable interface
static int	TS_DISABLED
static int	TS_ERROR
static int	TS_PENDING
static int	TS_READ_ERROR
static int	TS_RESET
static int	TS_TIMEOUT
static int	TS_TRIGGERED
static int	TS_UNKNOWN

Constructor Summary

ElmoImpl()
No-arg Constructor

ElmoImpl(Elmo elmo)
Constructor

Method Summary

boolean	armTurnsSensorTrigger()
void	beginMotion() Start motion according to currently set parameters.
long	center(int speedCounts) Find the center of the current Hall effect feedback position.
gnu.io.SerialPort	configurePort(java.lang.String serialPortName) Configure the serial ports used to communicate with the motor controllers.
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)
double	countsPerUnitTravel() Get number of motor counts per unit of travel (varies with lead screw gear ratio, counts per revolution and displacement revolution per units)
double	degrees2percent(double degreesValue) Convert louver position value (engineering units) to percent value This routine does not validate, so may return values that are not physically valid for invalid input
void	delay(long delayMsec) delay for specified number of milliseconds
boolean	disarmTurnsSensorTrigger() Disarm the turn sensor homing function
long	findBoundary(boolean positive, int speedCounts) Find and stop at the nearest Hall sensor feedback transition location.
int	getCountsPerRevolution() Get commutation counts per motor revolution.
int	getDIHall_Bit(int bit)
long	getDisplacementCounts(double louverPositionDegrees) compute displacement (motor counts) for given louver position (degrees).
double	getDisplacementRPU()
int	getEncoderVelocity() Get motor velocity (in counts/sec, from motor feedback sensors, i.e., before gear train) The encoder velocity is very noisy and typically reads 0 at very low speeds (<15 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	getHomingSpeedCounts()
boolean	getInvertHallPosition() If invertHallPosition is true, the order of the feedback readings is reversed, ranging from 15-0 instead of 0-15.
int	getJoggingVelocity() get motor jogging (commanded) velocity in counts/sec.
long	getLouverCountsMax()
long	getLouverCountsMin()
double	getLouverDegreesMax()
double	getLouverDegreesMin()
int	getLouverHallMax()
int	getLouverHallMin()
int	getLouverHallPhyMax()
int	getLouverHallPhyMin()
double	getLouverLinkageLength()
double	getLouverPercentMax()
double	getLouverPercentMin()
double	getLouverPositionDegrees() Get louver position (in engineering units) This derives from the kinematic position equations for the louvers (an offset crank-slider mechanism).
double	getLouverPositionDegrees(long positionCounts)
double	getLouverPositionPercent() Get louver position (as a percent of full travel)
double	getLouverPositionPercent(long positionCounts) 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
double	getMaxDisplacementTravel()
int	getMaxMotorCounts()
double	getMinDisplacementTravel()
int	getMinMotorCounts()
double	getModelMaxDisplacement()
long	getMotionDistanceOffsetMsec()
double	getMotionDistanceScale()
long	getMotionTimeoutOffsetMsec()
double	getMotionTimeoutScale()
Elmo	getMotor() get (Elmo) motor controller
int	getMotorAcceleration()
int	getMotorDeceleration()
int	getMotorStopDeceleration()
long	getPositionCounter() Get motor position counter for position modes fulfills ElmoIF interface
long	getPositionError() Get difference (counts) between commanded and actual position if available
double	getSliderLinkageLength()
double	getSliderOffset()
double	getSliderPivotOffset()
int	getStatusRegister() Get motor status code.
java.lang.String	getThrusterSampleMessage() return thruster sample string
long	getTSElapsedMsec() Return the elapsed time since last turns sensor trigger (msec)
int	getTSState() Return the turns sensor state
static java.lang.String	getTSStateMnemonic(int stateValue)
java.lang.String	getTSStateName() return a mnemonic for turns sensor state
long	getTSTriggerCount() Return number of times the turns sensor has been triggered since the last reset
int	getTurnSensorInputBit()
int	getTurnSensorOutputBit()
long	getTurnSensorTimeoutMillis(double velocityRPM, double gearRatio) Compute the time for one rotation at the current speed
long	getTurnSensorTimeoutMSec()
void	home(int position) Home to one of the louver's 16 Hall effect position feedback switches.
void	home(int position, boolean setCounter, 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	initializeController() Initialize motor controller satisfies ElmoIF
void	initializeController(int serialMode, int countsPerRevolution, double gearRatio, int unitMode, int acceleration, int deceleration, int stopDeceleration)
void	initializeTurnSensor()
boolean	isEnabled() return motor enabled (MO) status.
void	jog(int counts) Command motor velocity (in counts/sec) fulfills ElmoIF interface
int	orpm2counts(double rpm) Convert output shaft speed (rpm) to (counts/sec) (at output after gear train) (using gear ratio and counts per revolution)
double	percent2degrees(double percentValue) Convert louver position value (percent) to (engineering) units value This routine does not validate, so may return values that are not physically valid for invalid input
void	ptpAbsolute(long position, boolean wait) Move motor to absolute position Motion may be subject to modulo position counting modes in effect.
void	ptpAbsolute(long position, int velocityCounts, boolean wait) Move motor to absolute position at specified velocity Motion may be subject to modulo position counting modes in effect.
void	ptpRelative(long distanceCounts, boolean wait) Move motor relative to current position
void	ptpRelative(long distanceCounts, int velocityCounts, boolean wait) Move motor relative to current position at specified velocity
protected int	readLogicalLouverPosition(boolean invertScale)
protected int	readPhysicalLouverPosition() read and return louver position, expressed as one of the Hall sensor feedback values
java.lang.String	readRegister(java.lang.String register) read an Elmo register value
int	readTurnSensor() return DISABLED, TRIGGERED, PENDING, READ_ERROR, RESET
int	rpm2counts(double rpm) Convert motor speed (rpm) to (counts/sec) (before gear train) (using countsPerRevolution)
void	setCountsPerRevolution(int value) Set commutation counts per motor revolution.
void	setDigitalInputFunction(int pin, int function)
void	setDIHallBit(int bit, int value)
void	setDisplacementRPU(double value)
void	setEnable(boolean value, long timeoutMsec) Enable or disable the motor fulfills ElmoIF interface
void	setGearRatio(double value) Set the gear ratio between the motor and the output shaft.
void	setHomingSpeedCounts(int value)
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	setJoggingVelocity(int counts) Set motor velocity (in counts) Do not initiate motion fulfills ElmoIF interface
void	setJoggingVelocityRPM(double rpm) Set motor velocity (in rpm) Do not initiate motion fulfills ElmoIF interface
void	setLouverCountsMax(long value)
void	setLouverCountsMin(long value)
void	setLouverDegrees(double positionDegrees) Set an interpolated louver position between _louverDegreesMin and _louverDegreesMax.
void	setLouverDegreesMax(double value)
void	setLouverDegreesMin(double value)
void	setLouverHallMax(int value)
void	setLouverHallMin(int value)
void	setLouverHallPhyMax(int value)
void	setLouverHallPhyMin(int value)
void	setLouverLinkageLength(double value)
void	setLouverPercent(double positionPercent) Set an interpolated louver position between _louverDegreesMin and _louverDegreesMax.
void	setLouverPercentMax(double value)
void	setLouverPercentMin(double value)
void	setMaxDisplacementTravel(double value)
void	setMaxMotorCounts(int value)
void	setMinDisplacementTravel(double value)
void	setMinMotorCounts(int value)
void	setModelMaxDisplacement(double value)
void	setMotionDistanceOffsetMsec(long value)
void	setMotionDistanceScale(double value)
void	setMotionTimeoutOffsetMsec(long value)
void	setMotionTimeoutScale(double value)
void	setMotor(Elmo elmo) get (Elmo) motor controller
void	setMotorAcceleration(int value)
void	setMotorDeceleration(int value)
void	setMotorStopDeceleration(int value)
void	setPositionCounter(long positionCounts) Set motor position counter for position modes
void	setPTPSpeed(int counts) Set motor velocity (in counts) Do not initiate motion fulfills ElmoIF interface
void	setPTPSpeedRPM(double rpm) Set motor velocity (in rpm) Do not initiate motion fulfills ElmoIF interface
void	setReferenceLimit(int ll, int hl)
void	setReferenceSpeed(int vl, int vh)
void	setSerialMode(int mode) Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)
void	setSliderLinkageLength(double value)
void	setSliderOffset(double value)
void	setSliderPivotOffset(double value)
void	setTurnSensorInputBit(int value)
void	setTurnSensorOutputBit(int value)
protected void	setTurnSensorState(int state, long triggerCount, long elapsedTime)
void	setTurnSensorTimeoutMSec(long value)
void	setTurnsSensorEnable(boolean value) Enable or disable the turns sensor
java.lang.String	showConfiguration() show current configuration information [ a configuration class may be worth doing at some point - klh]
protected int	updateTurnSensorState() Read turn sensor and update sensor state.
void	validateAbsolute(long position)
boolean	validateCounts(long value) validate a louver position expressed in motor counts
boolean	validateDegrees(double value) Validate an louver position value expressed in engineering units
boolean	validatePercent(double value) Validate an louver position value expressed as a percentage of fully open
boolean	validatePosition(int value) validate a louver position expressed as one of the Hall sensor feedback values
void	validateRelative(long distanceCounts)
void	validateSpeed(double rpm) Validates specified speed against configured limits
void	validateSpeed(int counts) Validates specified speed against configured limits

Methods inherited from class java.lang.Object

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

Field Detail

_log4j

protected static org.apache.log4j.Logger _log4j

Log4j logger

serialVersionUID

public static final long serialVersionUID

serial version, for Serializable interface

See Also:

Constant Field Values

_elmo

protected Elmo _elmo

Elmo implementation (ElmoSolo, etc.; Elmo is abstract)

_motorSerialPort

protected gnu.io.SerialPort _motorSerialPort

forward controller serial port

_countsPerRevolution

protected int _countsPerRevolution

Motor counts per motor revolution (before gear rection)

_gearRatio

protected double _gearRatio

default gear reduction ratio

_maxMotorCounts

protected int _maxMotorCounts

_minMotorCounts

protected int _minMotorCounts

HALL_DISTANCE_COUNTS

public static final int HALL_DISTANCE_COUNTS

Distance (in motor counts) between louver feedback hall sensors

See Also:

Constant Field Values

HALL_ACTIVE_MASK

public static final int HALL_ACTIVE_MASK

mask for bits indicating digitial input logical pin state

See Also:

Constant Field Values

HALL_PINSTATE_MASK

public static final int HALL_PINSTATE_MASK

mask for bits indicating digital input physical pin state

See Also:

Constant Field Values

HALL_PINSTATE_START_BIT

public static final int HALL_PINSTATE_START_BIT

first bit of pin state in digital input port (used for bit shifting)

See Also:

Constant Field Values

LOUVER_DEGREES_LIMIT_MIN

public static final double LOUVER_DEGREES_LIMIT_MIN

See Also:

Constant Field Values

LOUVER_DEGREES_LIMIT_MAX

public static final double LOUVER_DEGREES_LIMIT_MAX

See Also:

Constant Field Values

LOUVER_PERCENT_LIMIT_MIN

public static final double LOUVER_PERCENT_LIMIT_MIN

See Also:

Constant Field Values

LOUVER_PERCENT_LIMIT_MAX

public static final double LOUVER_PERCENT_LIMIT_MAX

See Also:

Constant Field Values

LOUVER_COUNTS_LIMIT_MIN

public static final long LOUVER_COUNTS_LIMIT_MIN

See Also:

Constant Field Values

LOUVER_COUNTS_LIMIT_MAX

public static final long LOUVER_COUNTS_LIMIT_MAX

See Also:

Constant Field Values

LOUVER_HALL_LIMIT_MIN

public static final int LOUVER_HALL_LIMIT_MIN

See Also:

Constant Field Values

LOUVER_HALL_LIMIT_MAX

public static final int LOUVER_HALL_LIMIT_MAX

See Also:

Constant Field Values

DOUBLE_LIMIT_ZERO

public static final double DOUBLE_LIMIT_ZERO

See Also:

Constant Field Values

INT_LIMIT_ZERO

public static final int INT_LIMIT_ZERO

See Also:

Constant Field Values

LONG_LIMIT_ZERO

public static final long LONG_LIMIT_ZERO

See Also:

Constant Field Values

MAX_DIGITAL_INPUT_BIT

public static final int MAX_DIGITAL_INPUT_BIT

See Also:

Constant Field Values

ABOVE

public static final boolean ABOVE

constant indicates next highest (logical) hall sensor boundary

See Also:

Constant Field Values

BELOW

public static final boolean BELOW

constant indicates next lowest (logical) hall sensor boundary

See Also:

Constant Field Values

TS_UNKNOWN

public static final int TS_UNKNOWN

See Also:

Constant Field Values

TS_DISABLED

public static final int TS_DISABLED

See Also:

Constant Field Values

TS_PENDING

public static final int TS_PENDING

See Also:

Constant Field Values

TS_TRIGGERED

public static final int TS_TRIGGERED

See Also:

Constant Field Values

TS_ERROR

public static final int TS_ERROR

See Also:

Constant Field Values

TS_READ_ERROR

public static final int TS_READ_ERROR

See Also:

Constant Field Values

TS_TIMEOUT

public static final int TS_TIMEOUT

See Also:

Constant Field Values

TS_RESET

public static final int TS_RESET

See Also:

Constant Field Values

_tsStartTimeMS

protected long _tsStartTimeMS

_tsElapsedMS

protected long _tsElapsedMS

_tsTriggerCount

protected long _tsTriggerCount

_tsState

protected int _tsState

_turnSensorEnabled

protected boolean _turnSensorEnabled

_turnSensorReset

protected boolean _turnSensorReset

Constructor Detail

ElmoImpl

public ElmoImpl()

No-arg Constructor

ElmoImpl

public ElmoImpl(Elmo elmo)

Constructor

Method Detail

getMotor

public Elmo getMotor()

get (Elmo) motor controller

setMotor

public void setMotor(Elmo elmo)

get (Elmo) motor controller

configurePort

public gnu.io.SerialPort configurePort(java.lang.String serialPortName)

Configure the serial ports used to communicate with the motor controllers.

setMinMotorCounts

public void setMinMotorCounts(int value)
                       throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMinMotorCounts

public int getMinMotorCounts()

setMaxMotorCounts

public void setMaxMotorCounts(int value)
                       throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMaxMotorCounts

public int getMaxMotorCounts()

setMotorAcceleration

public void setMotorAcceleration(int value)
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.NullPointerException,
                                 java.lang.IllegalArgumentException,
                                 java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getMotorAcceleration

public int getMotorAcceleration()
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.IllegalArgumentException,
                                java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setMotorDeceleration

public void setMotorDeceleration(int value)
                          throws TimeoutException,
                                 java.io.IOException,
                                 java.lang.NullPointerException,
                                 java.lang.IllegalArgumentException,
                                 java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getMotorDeceleration

public int getMotorDeceleration()
                         throws TimeoutException,
                                java.io.IOException,
                                java.lang.NullPointerException,
                                java.lang.IllegalArgumentException,
                                java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setMotorStopDeceleration

public void setMotorStopDeceleration(int value)
                              throws TimeoutException,
                                     java.io.IOException,
                                     java.lang.NullPointerException,
                                     java.lang.IllegalArgumentException,
                                     java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getMotorStopDeceleration

public int getMotorStopDeceleration()
                             throws TimeoutException,
                                    java.io.IOException,
                                    java.lang.NullPointerException,
                                    java.lang.IllegalArgumentException,
                                    java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setDigitalInputFunction

public void setDigitalInputFunction(int pin,
                                    int function)
                             throws java.lang.IllegalArgumentException,
                                    TimeoutException,
                                    java.io.IOException

Throws:

java.lang.IllegalArgumentException

TimeoutException

java.io.IOException

setReferenceSpeed

public void setReferenceSpeed(int vl,
                              int vh)
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setReferenceLimit

public void setReferenceLimit(int ll,
                              int hl)
                       throws TimeoutException,
                              java.io.IOException,
                              java.lang.NullPointerException,
                              java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

validateSpeed

public void validateSpeed(int counts)
                   throws java.lang.IllegalArgumentException

Validates specified speed against configured limits

Parameters:

counts - - speed in counts

Throws:

java.lang.IllegalArgumentException

validateSpeed

public void validateSpeed(double rpm)
                   throws java.lang.IllegalArgumentException

Validates specified speed against configured limits

Parameters:

rpm - - speed in rpm

Throws:

java.lang.IllegalArgumentException

validateRelative

public void validateRelative(long distanceCounts)
                      throws java.lang.Exception

Throws:

java.lang.Exception

validateAbsolute

public void validateAbsolute(long position)
                      throws java.lang.Exception

Throws:

java.lang.Exception

initializeController

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

Initialize motor controller satisfies ElmoIF

Specified by:

initializeController in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

initializeController

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

Specified by:

initializeController in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

rpm2counts

public int rpm2counts(double rpm)
               throws java.lang.Exception

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

Specified by:

rpm2counts in interface ElmoIF

Throws:

java.lang.Exception

counts2rpm

public double counts2rpm(int counts)
                  throws java.lang.Exception

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

Specified by:

counts2rpm in interface ElmoIF

Throws:

java.lang.Exception

orpm2counts

public int orpm2counts(double rpm)
                throws java.lang.Exception

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

Specified by:

orpm2counts in interface ElmoIF

Throws:

java.lang.Exception

counts2orpm

public double counts2orpm(int counts)
                   throws java.lang.Exception

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

Specified by:

counts2orpm in interface ElmoIF

Throws:

java.lang.Exception

readRegister

public 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

Specified by:

readRegister in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setSerialMode

public void setSerialMode(int mode)
                   throws java.lang.IllegalArgumentException

Description copied from interface: ElmoIF

Set serial port mode (MODE_SERIAL_LOCAL, MODE_SERIAL_RFC2217)

Specified by:

setSerialMode in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

setCountsPerRevolution

public void setCountsPerRevolution(int value)
                            throws java.lang.IllegalArgumentException

Description copied from interface: ElmoIF

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

Specified by:

setCountsPerRevolution in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

getCountsPerRevolution

public int getCountsPerRevolution()

Description copied from interface: ElmoIF

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

Specified by:

getCountsPerRevolution in interface ElmoIF

setEnable

public void setEnable(boolean value,
                      long timeoutMsec)
               throws TimeoutException

Enable or disable the motor fulfills ElmoIF interface

Specified by:

setEnable in interface ElmoIF

Throws:

TimeoutException

setGearRatio

public void setGearRatio(double value)
                  throws java.lang.IllegalArgumentException

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.

Specified by:

setGearRatio in interface ElmoIF

Throws:

java.lang.IllegalArgumentException

getGearRatio

public double getGearRatio()

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.

Specified by:

getGearRatio in interface ElmoIF

setPositionCounter

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

Set motor position counter for position modes

Specified by:

setPositionCounter in interface ElmoIF

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

getPositionCounter

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

Get motor position counter for position modes fulfills ElmoIF interface

Specified by:

getPositionCounter in interface ElmoIF

Returns:

position counter (counts)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getJoggingVelocity

public 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.

Specified by:

getJoggingVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

java.rmi.RemoteException

getEncoderVelocity

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

Get motor velocity (in counts/sec, from motor feedback sensors, i.e., before gear train) The encoder velocity is very noisy and typically reads 0 at very low speeds (<15 counts/sec). Averages samples readings of the encoder velocity. Takes only one sample if samples<=0. fulfills ElmoIF interface

Specified by:

getEncoderVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getEncoderVelocity

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

Description copied from interface: ElmoIF

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

Specified by:

getEncoderVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

isEnabled

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

return motor enabled (MO) status.

Specified by:

isEnabled in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getStatusRegister

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

Get motor status code. fulfills ElmoIF interface

Specified by:

getStatusRegister in interface ElmoIF

Returns:

status

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

See Also:

Elmo.getStatusRegister()

getFaultRegister

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

return detailed motor fault information.. fulfills ElmoIF interface

Specified by:

getFaultRegister in interface ElmoIF

Returns:

fault

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

See Also:

Elmo.getMotorFault()

getPositionError

public long getPositionError()
                      throws TimeoutException,
                             java.io.IOException,
                             java.lang.NullPointerException,
                             java.lang.Exception

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

Specified by:

getPositionError in interface ElmoIF

Returns:

position error (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

setJoggingVelocityRPM

public void setJoggingVelocityRPM(double rpm)
                           throws TimeoutException,
                                  java.io.IOException,
                                  java.lang.NullPointerException,
                                  java.lang.IllegalArgumentException,
                                  java.lang.Exception

Set motor velocity (in rpm) Do not initiate motion fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setJoggingVelocity

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

Set motor velocity (in counts) Do not initiate motion fulfills ElmoIF interface

Specified by:

setJoggingVelocity in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setPTPSpeed

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

Set motor velocity (in counts) Do not initiate motion fulfills ElmoIF interface

Specified by:

setPTPSpeed in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setPTPSpeedRPM

public void setPTPSpeedRPM(double rpm)
                    throws TimeoutException,
                           java.io.IOException,
                           java.lang.NullPointerException,
                           java.lang.IllegalArgumentException,
                           java.lang.Exception

Set motor velocity (in rpm) Do not initiate motion fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

showConfiguration

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

show current configuration information [ a configuration class may be worth doing at some point - klh]

Specified by:

showConfiguration in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

beginMotion

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

Start motion according to currently set parameters. fulfills ElmoIF interface

Specified by:

beginMotion in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

jog

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

Command motor velocity (in counts/sec) fulfills ElmoIF interface

Specified by:

jog in interface ElmoIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpRelative

public void ptpRelative(long distanceCounts,
                        int velocityCounts,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

Move motor relative to current position at specified velocity

Parameters:

distanceCounts - distance to move (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpRelative

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

Move motor relative to current position

Specified by:

ptpRelative in interface ElmoIF

Parameters:

distanceCounts - distance to move (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpAbsolute

public void ptpAbsolute(long position,
                        int velocityCounts,
                        boolean wait)
                 throws TimeoutException,
                        java.io.IOException,
                        java.lang.NullPointerException,
                        java.lang.IllegalArgumentException,
                        java.lang.Exception

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

Parameters:

position - to move to (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

ptpAbsolute

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

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

Specified by:

ptpAbsolute in interface ElmoIF

Parameters:

position - to move to (counts) fulfills ElmoIF interface

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

delay

public void delay(long delayMsec)

delay for specified number of milliseconds

Specified by:

delay in interface ElmoIF

Parameters:

delayMsec - delay duration in milliseconds

getLouverDegreesMax

public double getLouverDegreesMax()

setLouverDegreesMax

public void setLouverDegreesMax(double value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverDegreesMin

public double getLouverDegreesMin()

setLouverDegreesMin

public void setLouverDegreesMin(double value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverCountsMax

public long getLouverCountsMax()

setLouverCountsMax

public void setLouverCountsMax(long value)
                        throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverCountsMin

public long getLouverCountsMin()

setLouverCountsMin

public void setLouverCountsMin(long value)
                        throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverPercentMax

public double getLouverPercentMax()

setLouverPercentMax

public void setLouverPercentMax(double value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverPercentMin

public double getLouverPercentMin()

setLouverPercentMin

public void setLouverPercentMin(double value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverHallPhyMin

public int getLouverHallPhyMin()

setLouverHallPhyMin

public void setLouverHallPhyMin(int value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverHallPhyMax

public int getLouverHallPhyMax()

setLouverHallPhyMax

public void setLouverHallPhyMax(int value)
                         throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverHallMax

public int getLouverHallMax()

setLouverHallMax

public void setLouverHallMax(int value)
                      throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverHallMin

public int getLouverHallMin()

setLouverHallMin

public void setLouverHallMin(int value)
                      throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getDisplacementRPU

public double getDisplacementRPU()

setDisplacementRPU

public void setDisplacementRPU(double value)
                        throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getSliderLinkageLength

public double getSliderLinkageLength()

setSliderLinkageLength

public void setSliderLinkageLength(double value)
                            throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getSliderOffset

public double getSliderOffset()

setSliderOffset

public void setSliderOffset(double value)
                     throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getModelMaxDisplacement

public double getModelMaxDisplacement()

setModelMaxDisplacement

public void setModelMaxDisplacement(double value)
                             throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getLouverLinkageLength

public double getLouverLinkageLength()

setLouverLinkageLength

public void setLouverLinkageLength(double value)
                            throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getSliderPivotOffset

public double getSliderPivotOffset()

setSliderPivotOffset

public void setSliderPivotOffset(double value)
                          throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMinDisplacementTravel

public double getMinDisplacementTravel()

setMinDisplacementTravel

public void setMinDisplacementTravel(double value)
                              throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMaxDisplacementTravel

public double getMaxDisplacementTravel()

setMaxDisplacementTravel

public void setMaxDisplacementTravel(double value)
                              throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getDIHall_Bit

public int getDIHall_Bit(int bit)

setDIHallBit

public void setDIHallBit(int bit,
                         int value)
                  throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getHomingSpeedCounts

public int getHomingSpeedCounts()

setHomingSpeedCounts

public void setHomingSpeedCounts(int value)
                          throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMotionTimeoutOffsetMsec

public long getMotionTimeoutOffsetMsec()

setMotionTimeoutOffsetMsec

public void setMotionTimeoutOffsetMsec(long value)
                                throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMotionTimeoutScale

public double getMotionTimeoutScale()

setMotionTimeoutScale

public void setMotionTimeoutScale(double value)
                           throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMotionDistanceOffsetMsec

public long getMotionDistanceOffsetMsec()

setMotionDistanceOffsetMsec

public void setMotionDistanceOffsetMsec(long value)
                                 throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getMotionDistanceScale

public double getMotionDistanceScale()

setMotionDistanceScale

public void setMotionDistanceScale(double value)
                            throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

countsPerUnitTravel

public double countsPerUnitTravel()

Get number of motor counts per unit of travel (varies with lead screw gear ratio, counts per revolution and displacement revolution per units)

validatePercent

public boolean validatePercent(double value)
                        throws java.lang.IllegalArgumentException

Validate an louver position value expressed as a percentage of fully open

Throws:

java.lang.IllegalArgumentException

validateDegrees

public boolean validateDegrees(double value)
                        throws java.lang.IllegalArgumentException

Validate an louver position value expressed in engineering units

Throws:

java.lang.IllegalArgumentException

validateCounts

public boolean validateCounts(long value)
                       throws java.lang.IllegalArgumentException

validate a louver position expressed in motor counts

Throws:

java.lang.IllegalArgumentException

validatePosition

public boolean validatePosition(int value)
                         throws java.lang.IllegalArgumentException

validate a louver position expressed as one of the Hall sensor feedback values

Throws:

java.lang.IllegalArgumentException

percent2degrees

public double percent2degrees(double percentValue)
                       throws java.lang.IllegalArgumentException

Convert louver position value (percent) to (engineering) units value This routine does not validate, so may return values that are not physically valid for invalid input

Throws:

java.lang.IllegalArgumentException

degrees2percent

public double degrees2percent(double degreesValue)
                       throws java.lang.IllegalArgumentException

Convert louver position value (engineering units) to percent value This routine does not validate, so may return values that are not physically valid for invalid input

Throws:

java.lang.IllegalArgumentException

readPhysicalLouverPosition

protected int readPhysicalLouverPosition()
                                  throws TimeoutException,
                                         java.io.IOException,
                                         java.lang.NullPointerException,
                                         java.lang.IllegalArgumentException,
                                         java.lang.Exception

read and return louver position, expressed as one of the Hall sensor feedback values

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

readLogicalLouverPosition

protected int readLogicalLouverPosition(boolean invertScale)
                                 throws TimeoutException,
                                        java.io.IOException,
                                        java.lang.NullPointerException,
                                        java.lang.IllegalArgumentException,
                                        java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getDisplacementCounts

public long getDisplacementCounts(double louverPositionDegrees)

compute displacement (motor counts) for given louver position (degrees). This is an implementation of the kinematic position equations for the louvers (an offset crank-slider mechanism). Louver angle T1 is related to lead screw displacement D by: D = a SIN(T1) - b SIN( ACOS( -(a cos(T1)+c)/b ) ) where a = louver linkage length ( 1.5" ) b = lead screw linkage length ( 10" ) c = lead screw offset ( 8.81" ) This expression references displacement relative to the louver pivot point, and displacement increases with decreasing angle; it does not take into account the offset (-0.44 in) of the slider pivot or the length of the louver pivot arm (+1.5 in). The coordinate system is transformed such that displacement D' is in the range 0-maxDisplacementTravel (5.3 in) and D`(0)=0. D' = K - D + A + Z where K = Max positive travel (6.23 in) A = offsets for louver pivot arm ( +1.5 in) Z = offsets for louver pivot arm and slider ( -0.44 in)

getInvertHallPosition

public boolean getInvertHallPosition()

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)

Specified by:

getInvertHallPosition in interface ElmoLouverIF

setInvertHallPosition

public void setInvertHallPosition(boolean value)

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)

Specified by:

setInvertHallPosition in interface ElmoLouverIF

findBoundary

public long findBoundary(boolean positive,
                         int speedCounts)
                  throws TimeoutException,
                         java.io.IOException,
                         java.lang.NullPointerException,
                         java.lang.IllegalArgumentException,
                         java.lang.Exception

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),

Specified by:

findBoundary in interface ElmoLouverIF

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

center

public 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. The strategy is to travel to the nearest transition boundaries, then move halfway between them. The strategy is slightly modified for the two endpoints, where transitions are somewhat different. The upper transition is also a false 0, so that has to be dealt with if it's possible to get there. Notes: - Resets position counter (but returns original value) - Disables the motor

Specified by:

center in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

home

public void home(int position)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception

Home to one of the louver's 16 Hall effect position feedback switches. The basic strategy is: - find the center of the current (nearest) feedback position - travel to the desired position (now a multiple of the sensor spacing) - reset the position counter This minimizes unnecessary opening/closing of the louver. This version uses the current value of _homingSpeedCounts

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

home

public void home(int position,
                 int velocityCounts)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception

Description copied from interface: ElmoLouverIF

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.

Specified by:

home in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

home

public void home(int position,
                 boolean setCounter,
                 long counterValue,
                 int vLo,
                 int vHi)
          throws TimeoutException,
                 java.io.IOException,
                 java.lang.NullPointerException,
                 java.lang.IllegalArgumentException,
                 java.lang.Exception

Home to one of the louver's 16 Hall effect position feedback switches. The basic strategy is: - find the center of the current (nearest) feedback position - travel to the desired position (now a multiple of the sensor spacing) - reset the position counter This minimizes unnecessary opening/closing of the louver.

Specified by:

home in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

setLouverPercent

public void setLouverPercent(double positionPercent)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception

Set an interpolated louver position between _louverDegreesMin and _louverDegreesMax. Position is expressed as a percentage of full range, 1.0 being open and 0.0 being closed.

Specified by:

setLouverPercent in interface ElmoLouverIF

Throws:

java.lang.IllegalArgumentException

java.lang.Exception

setLouverDegrees

public void setLouverDegrees(double positionDegrees)
                      throws java.lang.IllegalArgumentException,
                             java.lang.Exception

Set an interpolated louver position between _louverDegreesMin and _louverDegreesMax. Position is expressed in engineering units.

Specified by:

setLouverDegrees in interface ElmoLouverIF

Throws:

java.lang.IllegalArgumentException

java.lang.Exception

getLouverPositionDegrees

public double getLouverPositionDegrees()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

Get louver position (in engineering units) This derives from the kinematic position equations for the louvers (an offset crank-slider mechanism). Louver angle T1 is related to lead screw displacement D by: D = a SIN(T1) - b SIN( ACOS( -(a cos(T1)+c)/b ) ) where a = louver linkage length ( 1.5" ) b = lead screw linkage length ( 10" ) c = lead screw offset ( 8.81" ) We solve this for T1, which may be represented a quadratic in Cos(T1) (or Sin(T1) depending on implementation of arccos and arcsin and the geometry assumptions)

Specified by:

getLouverPositionDegrees in interface ElmoLouverIF

Returns:

louver position (degrees)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getLouverPositionDegrees

public double getLouverPositionDegrees(long positionCounts)
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getLouverPositionPercent

public double getLouverPositionPercent()
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

Get louver position (as a percent of full travel)

Specified by:

getLouverPositionPercent in interface ElmoLouverIF

Returns:

louver position (percent, 0.0-1.0)

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.Exception

getLouverPositionPercent

public double getLouverPositionPercent(long positionCounts)
                                throws TimeoutException,
                                       java.io.IOException,
                                       java.lang.NullPointerException,
                                       java.lang.Exception

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

getLouverStatusMessage

public java.lang.String getLouverStatusMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.NullPointerException,
                                               java.lang.IllegalArgumentException,
                                               java.lang.Exception

return a message indicating the state of several motor registers

Specified by:

getLouverStatusMessage in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.NullPointerException

java.lang.IllegalArgumentException

java.lang.Exception

getLouverSampleMessage

public java.lang.String getLouverSampleMessage()
                                        throws TimeoutException,
                                               java.io.IOException,
                                               java.lang.Exception

return a (terse) message indicating the state of several motor registers

Specified by:

getLouverSampleMessage in interface ElmoLouverIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

initializeTurnSensor

public void initializeTurnSensor()

getTurnSensorTimeoutMSec

public long getTurnSensorTimeoutMSec()

setTurnSensorTimeoutMSec

public void setTurnSensorTimeoutMSec(long value)
                              throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getTurnSensorInputBit

public int getTurnSensorInputBit()

setTurnSensorInputBit

public void setTurnSensorInputBit(int value)
                           throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

getTurnSensorOutputBit

public int getTurnSensorOutputBit()

setTurnSensorOutputBit

public void setTurnSensorOutputBit(int value)
                            throws java.lang.IllegalArgumentException

Throws:

java.lang.IllegalArgumentException

armTurnsSensorTrigger

public boolean armTurnsSensorTrigger()

disarmTurnsSensorTrigger

public boolean disarmTurnsSensorTrigger()

Disarm the turn sensor homing function

getTurnSensorTimeoutMillis

public long getTurnSensorTimeoutMillis(double velocityRPM,
                                       double gearRatio)

Compute the time for one rotation at the current speed

readTurnSensor

public int readTurnSensor()

return DISABLED, TRIGGERED, PENDING, READ_ERROR, RESET

setTurnSensorState

protected void setTurnSensorState(int state,
                                  long triggerCount,
                                  long elapsedTime)

updateTurnSensorState

protected int updateTurnSensorState()

Read turn sensor and update sensor state. The turn sensor consists of a magnet/hall effect pair wired to one of the Elmo digital input pins. Elmo homing functions (HM[N]) are used to configured to detect a transition on that pin and set an output (OP[N]) bit when triggered.

Returns:

ElmoImpl.TS_DISABLED if disabled

getThrusterSampleMessage

public java.lang.String getThrusterSampleMessage()
                                          throws TimeoutException,
                                                 java.io.IOException,
                                                 java.lang.Exception

return thruster sample string

Specified by:

getThrusterSampleMessage in interface ElmoThrusterIF

Throws:

TimeoutException

java.io.IOException

java.lang.Exception

setTurnsSensorEnable

public void setTurnsSensorEnable(boolean value)

Enable or disable the turns sensor

Specified by:

setTurnsSensorEnable in interface ElmoThrusterIF

getTSTriggerCount

public long getTSTriggerCount()

Description copied from interface: ElmoThrusterIF

Return number of times the turns sensor has been triggered since the last reset

Specified by:

getTSTriggerCount in interface ElmoThrusterIF

getTSElapsedMsec

public long getTSElapsedMsec()

Description copied from interface: ElmoThrusterIF

Return the elapsed time since last turns sensor trigger (msec)

Specified by:

getTSElapsedMsec in interface ElmoThrusterIF

getTSState

public int getTSState()

Description copied from interface: ElmoThrusterIF

Return the turns sensor state

Specified by:

getTSState in interface ElmoThrusterIF

getTSStateMnemonic

public static java.lang.String getTSStateMnemonic(int stateValue)

getTSStateName

public java.lang.String getTSStateName()

Description copied from interface: ElmoThrusterIF

return a mnemonic for turns sensor state

Specified by:

getTSStateName in interface ElmoThrusterIF