#include <Encoder.h>

Public Member Functions
	Encoder (gcp::util::Axis::Type axis)

void	reset ()

void	setZero (double zero)

void	setSlewRate (long rate)

void	setCountsPerTurn (int per_turn)

void	setCountsPerRadian (double countsPerRadian)

void	setLimits (long min, long max)

void	setLimits (gcp::util::Angle &min, gcp::util::Angle &max)

gcp::util::Axis::Type	getAxis ()

void	convertMountToEncoder (double angle, double rate, PmacAxis *axis, int current)

void	applyLimits (double angle, double rate, PmacAxis *axis, double current)

void	updateMountLimits ()

double	getMountMin ()

double	getMountMax ()

signed	getSlewRate ()

double	convertCountsToSky (int count)

double	convertAngleToSky (gcp::util::Angle &angle)

gcp::util::Angle	convertSkyToAngle (gcp::util::Angle sky)

void	packZero (signed *s_elements)

void	packCountsPerTurn (signed *s_elements)

void	packLimits (signed *s_elements)

Detailed Description

Objects of the following type are used to aggregate the encoder calibration parameters of each axis.

Constructor & Destructor Documentation

Encoder::Encoder ( gcp::util::Axis::Type axis )

Constructor

....................................................................... Constructor sets the axis this object represents

Member Function Documentation

void Encoder::applyLimits	(	double	angle,
		double	rate,
		PmacAxis *	axis,
		double	current
	)

Applies the limits to the axis values

....................................................................... Apply Limits

double Encoder::convertCountsToSky ( int count )

Convert from encoder counts to radians on the sky

....................................................................... Convert from encoder counts to radians on the sky

void Encoder::convertMountToEncoder	(	double	angle,
		double	rate,
		PmacAxis *	axis,
		int	current
	)

Convert from radians to encoder values on a given axis

....................................................................... Convert from Mount coordinates (radians, radians/sec) to encoder counts and rates.

If the encoder limits cover a turn or more, then the requested position can always be reached. In fact, because of the overlap regions of the drive, a given angle may correspond to more than one encoder position. We want to choose the one that is closest to the current position of the drive. Start by determining the distance between our preliminary encoder position and the current encoder position on this axis.

Axis::Type Encoder::getAxis ( )

Return the axis type of this encoder

double Encoder::getMountMax ( )

Get the mount maximum.

double Encoder::getMountMin ( )

Get the mount minimum.

signed Encoder::getSlewRate ( )

Get the slew rate.

void Encoder::packCountsPerTurn ( signed * s_elements )

Pack this encoder multiplier for archival in the register database.

....................................................................... Pack this encoder multiplier for archival in the register database.

void Encoder::packLimits ( signed * s_elements )

Method for packing data to be archived in the register database

....................................................................... Pack encoder limits for archival in the register database

void Encoder::packZero ( signed * s_elements )

Pack encoder zero points for archival in the register database.

....................................................................... Pack encoder zero points for archival in the register database.

void Encoder::reset ( )

Reset the parameters of this object

....................................................................... Reset internal members of this object

void Encoder::setCountsPerRadian ( double countsPerRadian )

Set the counts per radian for this encoder.

....................................................................... Set the counts per radian for this encoder.

void Encoder::setCountsPerTurn ( int countsPerTurn )

Set the counts per turn for this encoder.

....................................................................... Set the counts per turn for this encoder.

void Encoder::setLimits	(	long	min,
		long	max
	)

Set the limits.

....................................................................... Install new encoder (count) limits

void Encoder::setLimits	(	gcp::util::Angle &	min,
		gcp::util::Angle &	max
	)

....................................................................... Install new encoder (count) limits

void Encoder::setSlewRate ( long rate )

Set the slew rate.

....................................................................... Set the slew rate for this axis

void Encoder::setZero ( double zero )

Set the zero point of this encoder.

....................................................................... Set the encoder count at the zero point of this axis

void Encoder::updateMountLimits ( )

Update the mount limits.

....................................................................... Update the mount limits.

The documentation for this class was generated from the following files:

gcpCbass/antenna/control/cbass/Encoder.h
gcpCbass/antenna/control/cbass/Encoder.cc

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation