Package gda.device.motor

Class ShutteredScannableMotor

java.lang.Object

gda.factory.ConfigurableBase

gda.factory.FindableConfigurableBase

gda.device.DeviceBase

gda.device.motor.ShutteredScannableMotor

All Implemented Interfaces:

Device, ShutteredMotorController, Configurable, Findable, gda.observable.IObservable

public class ShutteredScannableMotor
extends DeviceBase
implements ShutteredMotorController

TODO need to better document how the different parameters from MXCameraForDummy are rolled into parameters here

Field Summary

Fields

Modifier and Type	Field	Description
double	acceleration

Fields inherited from class gda.device.DeviceBase

DEFAULT_PROTECTION_LEVEL_PROPERTY

Constructor Summary

Constructors

Constructor	Description
ShutteredScannableMotor()

Method Summary

Modifier and Type	Method	Description
void	asynchronousMoveTo(Object newPosition)
protected void	calculateDesiredAccelerationTime()
protected void	calculateDesiredVelocity()
protected double	calculateEndPosition()
protected void	calculateMinimumExposeTime()
protected void	calculatePositionWhereShutterIsTriggeredToOpen()
protected double	calculateStartPosition()
void	doCalculations()	Calculates the start/stop and shutter open/close parameters during the exposure.
void	expose()	Perform the actual move, once the exposure has been prepared with prepareForExposure()
double	getAcceleration()
double	getClosePosition()	The final position at which the shutter is expected to be open
double	getDefaultSpeed()
double	getDefaultTimeToVelocity()
double	getDesiredSpeed()
double	getDesiredTimeToVelocity()
double	getEndPosition()	The actual position where the move will conclude
double	getEndPositionOffset()
double	getEndTimeFudgeFactor()	Retrieve the time between the close position and when the deceleration should start
double	getMinExposeTime()
double	getMinimumStartToOpenPositionDifference()	The minimum difference between the start and open positions.
double	getMinimumTimeToVelocity()	The minimum time to velocity.
double	getMoveDistance()
double	getOpenPosition()	The initial position at which the shutter is expected to be open
Object	getPosition()
double	getPositionFudgeFactor()
double	getStartPosition()	The actual position where the move will start
double	getStartPositionOffset()
double	getStartTimeFudgeFactor()
void	prepareForExposure()	Move the motor to the actual start position required for proper run-up to the desired velocity.
void	setAcceleration(double acceleration)
void	setClosePosition(double closePosition)	The exact position where the shutter is expected to be closed.
void	setDefaultSpeed(double defaultSpeed)
void	setDefaultSpeeds()	Reset to the default speed and default time to velocity, usually done after an exposure()
void	setDefaultTimeToVelocity(double desiredTimeToVelocity)
void	setDesiredSpeed(double desiredSpeed)
void	setDesiredSpeeds()
void	setDesiredTimeToVelocity(double desiredTimeToVelocity)
void	setEndTimeFudgeFactor(double fudgeTime)
void	setExposureTime(double exposureTime)
void	setMinimumTimeToVelocity(double minimumTimeToVelocity)	The minimum time to velocity.
void	setMotor(ScannableMotor theMotor)
void	setMoveDistance(double moveDistance)	The distance between the open and close positions
void	setOpenPosition(double openPosition)
void	setPositionFudgeFactor(double positionFudgeFactor)
void	setShutterOpenTime(double openTime)
void	setStartTimeFudgeFactor(double fudgeTime)

Methods inherited from class gda.device.DeviceBase

addIObserver, close, deleteIObserver, deleteIObservers, getAttribute, getName, getProtectionLevel, isBeingObserved, isConfigureAtStartup, notifyIObservers, setAttribute, setConfigureAtStartup, setName, setProtectionLevel

Methods inherited from class gda.factory.ConfigurableBase

configure, isConfigured, reconfigure, setConfigured

Methods inherited from class java.lang.Object

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

Methods inherited from interface gda.factory.Configurable

configure, isConfigureAtStartup, isConfigured, reconfigure

Methods inherited from interface gda.device.Device

close, getAttribute, getProtectionLevel, setAttribute, setProtectionLevel

Methods inherited from interface gda.factory.Findable

getName, setName

Methods inherited from interface gda.observable.IObservable

addIObserver, deleteIObserver, deleteIObservers

Field Details

acceleration

public double acceleration

Constructor Details

ShutteredScannableMotor

public ShutteredScannableMotor()

Method Details

doCalculations

public void doCalculations()

Calculates the start/stop and shutter open/close parameters during the exposure. This should be automatically called when any of the three exposure parameters are changed (image-start/time/positions).

Specified by:

doCalculations in interface ShutteredMotorController

expose

public void expose()
            throws DeviceException

Description copied from interface: ShutteredMotorController

Perform the actual move, once the exposure has been prepared with prepareForExposure()

Specified by:

expose in interface ShutteredMotorController

Throws:

DeviceException

calculateDesiredVelocity

protected void calculateDesiredVelocity()

calculateDesiredAccelerationTime

protected void calculateDesiredAccelerationTime()

calculatePositionWhereShutterIsTriggeredToOpen

protected void calculatePositionWhereShutterIsTriggeredToOpen()

calculateStartPosition

protected double calculateStartPosition()

calculateEndPosition

protected double calculateEndPosition()

calculateMinimumExposeTime

protected void calculateMinimumExposeTime()

setDefaultSpeeds

public void setDefaultSpeeds()
                      throws DeviceException

Description copied from interface: ShutteredMotorController

Reset to the default speed and default time to velocity, usually done after an exposure()

Specified by:

setDefaultSpeeds in interface ShutteredMotorController

Throws:

DeviceException

setDesiredSpeeds

public void setDesiredSpeeds()
                      throws DeviceException

Throws:

DeviceException

getDefaultSpeed

public double getDefaultSpeed()

Specified by:

getDefaultSpeed in interface ShutteredMotorController

getDefaultTimeToVelocity

public double getDefaultTimeToVelocity()

Specified by:

getDefaultTimeToVelocity in interface ShutteredMotorController

Returns:

defaultTimeToVelocity

getDesiredSpeed

public double getDesiredSpeed()

Specified by:

getDesiredSpeed in interface ShutteredMotorController

Returns:

speed

getDesiredTimeToVelocity

public double getDesiredTimeToVelocity()

Specified by:

getDesiredTimeToVelocity in interface ShutteredMotorController

Returns:

desiredTimeToVelocity

getEndPositionOffset

public double getEndPositionOffset()

Specified by:

getEndPositionOffset in interface ShutteredMotorController

Returns:

endPositionOffset the offset from the close position that expose() will move to

getEndTimeFudgeFactor

public double getEndTimeFudgeFactor()

Description copied from interface: ShutteredMotorController

Retrieve the time between the close position and when the deceleration should start

Specified by:

getEndTimeFudgeFactor in interface ShutteredMotorController

Returns:

fudgeTime

getStartPositionOffset

public double getStartPositionOffset()

Specified by:

getStartPositionOffset in interface ShutteredMotorController

Returns:

startPositionOffset the offset from the actual start position when prepareForExposure() is done

getStartTimeFudgeFactor

public double getStartTimeFudgeFactor()

Specified by:

getStartTimeFudgeFactor in interface ShutteredMotorController

Returns:

fudgeTime the time allowed between the axis reaching full velocity and reaching the start position

prepareForExposure

public void prepareForExposure()
                        throws DeviceException

Description copied from interface: ShutteredMotorController

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.

Specified by:

prepareForExposure in interface ShutteredMotorController

Throws:

DeviceException

setDefaultSpeed

public void setDefaultSpeed(double defaultSpeed)

Specified by:

setDefaultSpeed in interface ShutteredMotorController

Parameters:

defaultSpeed -

setDefaultTimeToVelocity

public void setDefaultTimeToVelocity(double desiredTimeToVelocity)

Specified by:

setDefaultTimeToVelocity in interface ShutteredMotorController

Parameters:

desiredTimeToVelocity -

setDesiredSpeed

public void setDesiredSpeed(double desiredSpeed)

Specified by:

setDesiredSpeed in interface ShutteredMotorController

Parameters:

desiredSpeed -

setDesiredTimeToVelocity

public void setDesiredTimeToVelocity(double desiredTimeToVelocity)

Specified by:

setDesiredTimeToVelocity in interface ShutteredMotorController

Parameters:

desiredTimeToVelocity -

setClosePosition

public void setClosePosition(double closePosition)

Description copied from interface: ShutteredMotorController

The exact position where the shutter is expected to be closed.

Specified by:

setClosePosition in interface ShutteredMotorController

Parameters:

closePosition -

getClosePosition

public double getClosePosition()

Description copied from interface: ShutteredMotorController

The final position at which the shutter is expected to be open

Specified by:

getClosePosition in interface ShutteredMotorController

setEndTimeFudgeFactor

public void setEndTimeFudgeFactor(double fudgeTime)

Specified by:

setEndTimeFudgeFactor in interface ShutteredMotorController

Parameters:

fudgeTime -

setExposureTime

public void setExposureTime(double exposureTime)

Specified by:

setExposureTime in interface ShutteredMotorController

Parameters:

exposureTime -

getOpenPosition

public double getOpenPosition()

Description copied from interface: ShutteredMotorController

The initial position at which the shutter is expected to be open

Specified by:

getOpenPosition in interface ShutteredMotorController

setOpenPosition

public void setOpenPosition(double openPosition)

Specified by:

setOpenPosition in interface ShutteredMotorController

Parameters:

openPosition -

setShutterOpenTime

public void setShutterOpenTime(double openTime)

setStartTimeFudgeFactor

public void setStartTimeFudgeFactor(double fudgeTime)

Specified by:

setStartTimeFudgeFactor in interface ShutteredMotorController

Parameters:

fudgeTime -

getStartPosition

public double getStartPosition()

Description copied from interface: ShutteredMotorController

The actual position where the move will start

Specified by:

getStartPosition in interface ShutteredMotorController

Returns:

start position

getEndPosition

public double getEndPosition()

Description copied from interface: ShutteredMotorController

The actual position where the move will conclude

Specified by:

getEndPosition in interface ShutteredMotorController

Returns:

final position

getMoveDistance

public double getMoveDistance()

Specified by:

getMoveDistance in interface ShutteredMotorController

Returns:

distance between open and close positions

setMoveDistance

public void setMoveDistance(double moveDistance)

Description copied from interface: ShutteredMotorController

The distance between the open and close positions

Specified by:

setMoveDistance in interface ShutteredMotorController

Parameters:

moveDistance -

getMinExposeTime

public double getMinExposeTime()

setMotor

public void setMotor(ScannableMotor theMotor)

Specified by:

setMotor in interface ShutteredMotorController

getMinimumTimeToVelocity

public double getMinimumTimeToVelocity()

Description copied from interface: ShutteredMotorController

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

Specified by:

getMinimumTimeToVelocity in interface ShutteredMotorController

Returns:

minimum time to velocity

setMinimumTimeToVelocity

public void setMinimumTimeToVelocity(double minimumTimeToVelocity)

Description copied from interface: ShutteredMotorController

The minimum time to velocity.

Specified by:

setMinimumTimeToVelocity in interface ShutteredMotorController

Parameters:

minimumTimeToVelocity -

getMinimumStartToOpenPositionDifference

public double getMinimumStartToOpenPositionDifference()

Description copied from interface: ShutteredMotorController

The minimum difference between the start and open positions. Also used for end and close positions.

Specified by:

getMinimumStartToOpenPositionDifference in interface ShutteredMotorController

Returns:

minimumDiff

getPosition

public Object getPosition()
                   throws DeviceException

Throws:

DeviceException

asynchronousMoveTo

public void asynchronousMoveTo(Object newPosition)
                        throws DeviceException

Throws:

DeviceException

getPositionFudgeFactor

public double getPositionFudgeFactor()

setPositionFudgeFactor

public void setPositionFudgeFactor(double positionFudgeFactor)

setAcceleration

public void setAcceleration(double acceleration)

Specified by:

setAcceleration in interface ShutteredMotorController

getAcceleration

public double getAcceleration()

Specified by:

getAcceleration in interface ShutteredMotorController