Responsible for storing and maintaining drive parameters, calculating drive rate updates and regularly sending them to the drive hardware. More...

#include <carma/antenna/ovro/control/DriveEngine.h>

Public Types
enum	ApertureType { OPTICAL, RADIO1MM, RADIO3MM, RADIO1CM, APERTURE_COUNT }

enum	WrapType { NO_TURN, ADD_TURN, SUBTRACT_TURN }
	Wrap states. More...

Public Member Functions
	DriveEngine (Drive &drive, const Encoder &azEncoder, const Encoder &elEncoder, const Tiltmeter &tiltmeter, carma::monitor::OvroSubsystem &mon)

void	freezeTilt ()
	Freeze tilt ( debug ) More...

void	selectAperture (ApertureType aperture)
	Select aperture. More...

void	setAperturePointingConstants (ApertureType aperture, const carma::services::Angle &azOffset, const carma::services::Angle &elOffset, const carma::services::Angle &sag)
	Set aperture pointing constants These constants represent on the sky collimation errors for a particular aperture. More...

void	setAz (const carma::services::Angle &azimuth)
	Set azimuth. More...

void	setAzEl (const carma::services::Angle &angle, const carma::services::Angle &elevation)
	Set azimuth and elevation. More...

void	setAzEncoderZero (const carma::services::Angle &azEncoderZero)
	Set Az Encoder Zero. More...

void	setAzMaxRate (double azMaxRateInDegPerSec)
	Set azimuth maz rate on the sky. More...

void	setAzMountOffset (const carma::services::Angle &azMountOffset)
	Set Az Mount Offset. More...

void	setAzOffset (const carma::services::Angle &offset)
	Set azimuth offset. More...

void	setEl (const carma::services::Angle &elevation)
	Set elevation. More...

void	setElEncoderZero (const carma::services::Angle &azEncoderZero)
	Set El Encoder Zero. More...

void	setElMaxRate (double elMaxRateInDegPerSec)
	Set elevation max rate. More...

void	setElMountOffset (const carma::services::Angle &elMountOffset)
	Set El Mount Offset. More...

void	setElOffset (const carma::services::Angle &offset)
	Set elevation offset. More...

void	setEngineeringMode (bool enable)
	Set engineering mode. More...

void	setLocation (const carma::services::Location &location)
	Set antenna location. More...

void	setMountOffsets (const carma::services::Angle &azMountOffset, const carma::services::Angle &elMountOffset)
	Set both az and el mount offsets simultaneously. More...

void	setMountPointingConstants (const carma::services::Angle &azEncoderZero, const carma::services::Angle &elEncoderZero, const carma::services::Angle &nonOrthogonalityOfAxes, const carma::services::Angle &azimuthVerticalityNorthSouth, const carma::services::Angle &azimuthVerticalityEastWest)
	Set mount pointing constants. More...

void	setOffset (const carma::services::Angle &azOffset, const carma::services::Angle &elOffset)
	Set offset. More...

void	setRaDec (const RaDecTriplet &raDecTriplet, WrapType wrap=NO_TURN)
	Set new Ra and Dec triplet. More...

void	setRawDriveRates (float azRateInDegPerMin, float elRateInDegPerMin)
	Engineering command to set raw drive slew rates. More...

void	setRawDriveVoltages (float azVoltage, float elVoltage)
	Engineering command to set raw drive motor control voltages. More...

void	setSafeRange (const carma::services::Angle &azLow, const carma::services::Angle &azHigh, const carma::services::Angle &elLow, const carma::services::Angle &elHigh)
	Set anti-collision safe ranges. More...

void	setSequenceNumber (unsigned long seqNo)
	Set sequence number. More...

void	setSource (std::string source)
	Set source name. More...

void	setTiltmeterZeros (const carma::services::Angle &aftForwardZero, const carma::services::Angle &leftRightZero)
	Set Tiltmeter Zeros. More...

void	setTolerance (const carma::services::Angle &tolerance)
	Set acquisition tolerance. More...

void	setWeather (double ambientTemp, double barometricPressure, double relativeHumidity, double dewpointTemp, double windSpeed, double windDirection)
	Set weather parameters needed for refraction corrections, snow track and wind track. More...

void	snow ()
	Track a position 60 degrees into the wind in order to minimize snow buildup on the backing structure (where it is more difficult to remove. More...

void	stop ()
	Stop. More...

void	stowSafe ()
	Stow antenna to a safe position. More...

void	stowZenith ()
	Stow antenna close to zenith. More...

void	thawTilt ()
	Thaw tilt ( debug ) More...

void	toggleBacklashCorrection (bool enable)
	Toggle backlash correction. More...

void	updateConfigurationData ()
	Update Drive module configuration data from file. More...

void	updateRaDec (const RaDecEpoch &raDecEpoch, WrapType wrap=NO_TURN)
	Update current Ra/Dec position with a new epoch. More...

Detailed Description

Responsible for storing and maintaining drive parameters, calculating drive rate updates and regularly sending them to the drive hardware.

Definition at line 51 of file DriveEngine.h.

Member Enumeration Documentation

enum carma::antenna::ovro::DriveEngine::WrapType

Wrap states.

Definition at line 144 of file DriveEngine.h.

Member Function Documentation

void carma::antenna::ovro::DriveEngine::freezeTilt ( )

Freeze tilt ( debug )

void carma::antenna::ovro::DriveEngine::selectAperture ( ApertureType aperture )

Select aperture.

Replaces current aperture pointing constants with those of the selected aperture.

Exceptions

IllegalStateException if aperture constants have not been set.

Parameters

aperture New desired aperture.

See Also: setAperturePointingConstants

void carma::antenna::ovro::DriveEngine::setAperturePointingConstants	(	ApertureType	aperture,
		const carma::services::Angle &	azOffset,
		const carma::services::Angle &	elOffset,
		const carma::services::Angle &	sag
	)

Set aperture pointing constants These constants represent on the sky collimation errors for a particular aperture.

Input constants are stored away for future use (i.e. you only need to call these once for each aperture).

void carma::antenna::ovro::DriveEngine::setAz ( const carma::services::Angle & azimuth )

Set azimuth.

Parameters

azimuth Azimuth as an Angle object.

void carma::antenna::ovro::DriveEngine::setAzEl	(	const carma::services::Angle &	angle,
		const carma::services::Angle &	elevation
	)

Set azimuth and elevation.

Parameters

azimuth	Azimuth as an Angle object.
elevation	Elevation as an Angle object.

void carma::antenna::ovro::DriveEngine::setAzEncoderZero ( const carma::services::Angle & azEncoderZero )

Set Az Encoder Zero.

Also set via setMountPointingConstants.

void carma::antenna::ovro::DriveEngine::setAzMaxRate ( double azMaxRateInDegPerSec )

Set azimuth maz rate on the sky.

Parameters

azMaxRate Azimuth max sky rate in degrees/second.

void carma::antenna::ovro::DriveEngine::setAzMountOffset ( const carma::services::Angle & azMountOffset )

Set Az Mount Offset.

void carma::antenna::ovro::DriveEngine::setAzOffset ( const carma::services::Angle & offset )

Set azimuth offset.

void carma::antenna::ovro::DriveEngine::setEl ( const carma::services::Angle & elevation )

Set elevation.

Parameters

elevation Elevation as an Angle object.

void carma::antenna::ovro::DriveEngine::setElEncoderZero ( const carma::services::Angle & azEncoderZero )

Set El Encoder Zero.

Also set via setMountPointingConstants.

void carma::antenna::ovro::DriveEngine::setElMaxRate ( double elMaxRateInDegPerSec )

Set elevation max rate.

Parameters

elMaxRate Elevation max rate in degrees/second.

void carma::antenna::ovro::DriveEngine::setElMountOffset ( const carma::services::Angle & elMountOffset )

Set El Mount Offset.

void carma::antenna::ovro::DriveEngine::setElOffset ( const carma::services::Angle & offset )

Set elevation offset.

void carma::antenna::ovro::DriveEngine::setEngineeringMode ( bool enable )

Set engineering mode.

In engineering mode, control of the drive is disabled completely.

Parameters

enable True to enable engineering mode, false to disable.

void carma::antenna::ovro::DriveEngine::setLocation ( const carma::services::Location & location )

Set antenna location.

Parameters

location Const reference to a location instance.

void carma::antenna::ovro::DriveEngine::setMountOffsets	(	const carma::services::Angle &	azMountOffset,
		const carma::services::Angle &	elMountOffset
	)

Set both az and el mount offsets simultaneously.

void carma::antenna::ovro::DriveEngine::setMountPointingConstants	(	const carma::services::Angle &	azEncoderZero,
		const carma::services::Angle &	elEncoderZero,
		const carma::services::Angle &	nonOrthogonalityOfAxes,
		const carma::services::Angle &	azimuthVerticalityNorthSouth,
		const carma::services::Angle &	azimuthVerticalityEastWest
	)

Set mount pointing constants.

void carma::antenna::ovro::DriveEngine::setOffset	(	const carma::services::Angle &	azOffset,
		const carma::services::Angle &	elOffset
	)

Set offset.

void carma::antenna::ovro::DriveEngine::setRaDec	(	const RaDecTriplet &	raDecTriplet,
		WrapType	wrap = `NO_TURN`
	)

Set new Ra and Dec triplet.

Parameters

Vector	of Ra/Dec instants.
wrap	Wrap mode.

void carma::antenna::ovro::DriveEngine::setRawDriveRates	(	float	azRateInDegPerMin,
		float	elRateInDegPerMin
	)

Engineering command to set raw drive slew rates.

Be careful with this.

Parameters

azRateInDegPerMin	Azimuth slew rate in degrees per minute.
elRateInDegPerMin	Elevation slew rate in degrees per minute.

void carma::antenna::ovro::DriveEngine::setRawDriveVoltages	(	float	azVoltage,
		float	elVoltage
	)

Engineering command to set raw drive motor control voltages.

This is an engineering command which sets raw motor drive voltages and should be used with the utmost care.

Parameters

azRawVoltage	Azimuth raw voltage in volts.
elRawVoltage	Elevation raw voltage in volts.

void carma::antenna::ovro::DriveEngine::setSafeRange	(	const carma::services::Angle &	azLow,
		const carma::services::Angle &	azHigh,
		const carma::services::Angle &	elLow,
		const carma::services::Angle &	elHigh
	)

Set anti-collision safe ranges.

The stow safe position is calculated as the middle of these ranges. This routine must be called prior to calling stowSafe.

Parameters

azLow	Safe azimuth range low value (range inclusive).
azHigh	Safe azimuth range high value (range inclusive).
elLow	Safe elevation range low value (range inclusive).
elHigh	Safe elevation range high value (range inclusive).

void carma::antenna::ovro::DriveEngine::setSequenceNumber ( unsigned long seqNo )

Set sequence number.

The drive engine does nothing with this number except store it and write it to the monitor system.

void carma::antenna::ovro::DriveEngine::setSource ( std::string source )

Set source name.

Parameters

source Source name.

void carma::antenna::ovro::DriveEngine::setTiltmeterZeros	(	const carma::services::Angle &	aftForwardZero,
		const carma::services::Angle &	leftRightZero
	)

Set Tiltmeter Zeros.

void carma::antenna::ovro::DriveEngine::setTolerance ( const carma::services::Angle & tolerance )

Set acquisition tolerance.

void carma::antenna::ovro::DriveEngine::setWeather	(	double	ambientTemp,
		double	barometricPressure,
		double	relativeHumidity,
		double	dewpointTemp,
		double	windSpeed,
		double	windDirection
	)

Set weather parameters needed for refraction corrections, snow track and wind track.

Parameters

ambientTemp	Ambient temperature in Celcius.
barometricPressure	Barometric pressure in millibars.
relativeHumidity	Relative humidity in percent.
dewpointTemp	Dewpoint temperature in Celsius.
windSpeed	Wind speed in miles/hour.
windDirection	Direction wind is coming from, in degrees, with north at 0, increasing to the east. This is opposite the direction the wind is blowing.

void carma::antenna::ovro::DriveEngine::snow ( )

Track a position 60 degrees into the wind in order to minimize snow buildup on the backing structure (where it is more difficult to remove.

void carma::antenna::ovro::DriveEngine::stop ( )

Stop.

void carma::antenna::ovro::DriveEngine::stowSafe ( )

Stow antenna to a safe position.

The safe position is defined to be the middle of the safe range.

Precondition: Must call setSafeRange before calling this.

Exceptions

IllegalStateException if setSafeRange not called prior.

See Also: setSafeRange

void carma::antenna::ovro::DriveEngine::stowZenith ( )

Stow antenna close to zenith.

void carma::antenna::ovro::DriveEngine::thawTilt ( )

Thaw tilt ( debug )

void carma::antenna::ovro::DriveEngine::toggleBacklashCorrection ( bool enable )

Toggle backlash correction.

void carma::antenna::ovro::DriveEngine::updateConfigurationData ( )

Update Drive module configuration data from file.

void carma::antenna::ovro::DriveEngine::updateRaDec	(	const RaDecEpoch &	raDecEpoch,
		WrapType	wrap = `NO_TURN`
	)

Update current Ra/Dec position with a new epoch.

Parameters

RaDecEpoch	Ra/Dec at specified time.
wrap	Wrap mode.

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

carma/antenna/ovro/control/DriveEngine.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Member Function Documentation