Package gda.device.motor

Interface ShutteredMotorController

All Superinterfaces:
Configurable, Device, Findable, gda.observable.IObservable
All Known Implementing Classes:
ShutteredScannableMotor
public interface ShutteredMotorController extends Device
Interface to a shuttered motor controller that will calculate the start and end positions of a move based on the desired time-to-velocity, desired velocity, and fudge factors added to make sure that the motors are up to speed. Assumes that the shutter will be triggered open slightly before openPosition and triggered to close slightly before closePosition. /---------------\ / \ / \ 1 2 3 - 4 5 6 (Figure indicates velocity of the axis and keys to the points are given below.) Point 1: actual start position (open position - start position offset) Point 2: time after motor has reached desired speed, before it reaches the desired start position Points 3 and 4: at velocity, the start point (shutterIsOpenPosition) and end point of the desired exposure range. Right before points 3 and 4, the shutter will be triggered to open (shutterOpenIsTriggeredPosition) or close, respectively. gda/px/camera/Trigger will handle the triggering. Point 5: exposure has finished (beyond close position), but before deceleration has started Point 6: decelerating to final stop position (close position + end position offset)

  • Method Details

    • setMotor

      void setMotor(ScannableMotor theMotor)

    • prepareForExposure

      void prepareForExposure() throws DeviceException
      Move the motor to the actual start position required for proper run-up to the desired velocity. Set speed and time to velocity on underlying motor to accomplish the move properly. Done after setDefaultSpeeds() to ensure that axes are moving fast to the start position.
      Throws:
      DeviceException

    • doCalculations

      void doCalculations()
      Perform the calculations necessary to get the actual start position of the move, and the final end position.

    • expose

      void expose() throws DeviceException
      Perform the actual move, once the exposure has been prepared with prepareForExposure()
      Throws:
      DeviceException

    • setDefaultSpeeds

      void setDefaultSpeeds() throws DeviceException
      Reset to the default speed and default time to velocity, usually done after an exposure()
      Throws:
      DeviceException

    • setDesiredSpeed

      void setDesiredSpeed(double desiredSpeed)
      Parameters:
      desiredSpeed -

    • getDesiredSpeed

      double getDesiredSpeed()
      Returns:
      speed

    • setDefaultSpeed

      void setDefaultSpeed(double defaultSpeed)
      Parameters:
      defaultSpeed -

    • getDefaultSpeed

      double getDefaultSpeed()

    • setDesiredTimeToVelocity

      void setDesiredTimeToVelocity(double desiredTimeToVelocity)
      Parameters:
      desiredTimeToVelocity -

    • getDesiredTimeToVelocity

      double getDesiredTimeToVelocity()
      Returns:
      desiredTimeToVelocity

    • setDefaultTimeToVelocity

      void setDefaultTimeToVelocity(double desiredTimeToVelocity)
      Parameters:
      desiredTimeToVelocity -

    • getDefaultTimeToVelocity

      double getDefaultTimeToVelocity()
      Returns:
      defaultTimeToVelocity

    • setMinimumTimeToVelocity

      void setMinimumTimeToVelocity(double minimumTimeToVelocity)
      The minimum time to velocity.
      Parameters:
      minimumTimeToVelocity -

    • getMinimumTimeToVelocity

      double getMinimumTimeToVelocity()
      The minimum time to velocity. If the desired time to velocity is set to less than this value, it will be replaced by the minimumTimeToVelocity
      Returns:
      minimum time to velocity

    • setOpenPosition

      void setOpenPosition(double openPosition)
      Parameters:
      openPosition -

    • getOpenPosition

      double getOpenPosition()
      The initial position at which the shutter is expected to be open

    • setClosePosition

      void setClosePosition(double closePosition)
      The exact position where the shutter is expected to be closed.
      Parameters:
      closePosition -

    • getClosePosition

      double getClosePosition()
      The final position at which the shutter is expected to be open

    • getStartPositionOffset

      double getStartPositionOffset()
      Returns:
      startPositionOffset the offset from the actual start position when prepareForExposure() is done

    • getEndPositionOffset

      double getEndPositionOffset()
      Returns:
      endPositionOffset the offset from the close position that expose() will move to

    • getMinimumStartToOpenPositionDifference

      double getMinimumStartToOpenPositionDifference()
      The minimum difference between the start and open positions. Also used for end and close positions.
      Returns:
      minimumDiff

    • setExposureTime

      void setExposureTime(double exposureTime)
      Parameters:
      exposureTime -

    • setStartTimeFudgeFactor

      void setStartTimeFudgeFactor(double fudgeTime)
      Parameters:
      fudgeTime -

    • getStartTimeFudgeFactor

      double getStartTimeFudgeFactor()
      Returns:
      fudgeTime the time allowed between the axis reaching full velocity and reaching the start position

    • setEndTimeFudgeFactor

      void setEndTimeFudgeFactor(double fudgeTime)
      Parameters:
      fudgeTime -

    • getEndTimeFudgeFactor

      double getEndTimeFudgeFactor()
      Retrieve the time between the close position and when the deceleration should start
      Returns:
      fudgeTime

    • getStartPosition

      double getStartPosition()
      The actual position where the move will start
      Returns:
      start position

    • getEndPosition

      double getEndPosition()
      The actual position where the move will conclude
      Returns:
      final position

    • setMoveDistance

      void setMoveDistance(double moveDistance)
      The distance between the open and close positions
      Parameters:
      moveDistance -

    • getMoveDistance

      double getMoveDistance()
      Returns:
      distance between open and close positions

    • setAcceleration

      void setAcceleration(double acceleration)

    • getAcceleration

      double getAcceleration()