public class TelescopeAxis extends PropertyContainer
setDeadtime(double).setDesiredOffset(double, double),
not the desired offset plus movement during the deadtime.SCurve class is utilized for the movement of the axis.| Modifier and Type | Class and Description |
|---|---|
static class |
TelescopeAxis.Randomize
Tests the axis movement by a randomized offset.
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| Modifier and Type | Field and Description |
|---|---|
private double |
deadtime
The deadtime of the movement.
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private static double |
DEFALPHA
The default alpha value.
|
private static double |
DEFBETA
The default beta value.
|
private static double |
DEFJERK
The default jerk in degree/s^3.
|
static String |
KEY_ALPHA
The key to the alpha time-share of the S-curve.
|
static String |
KEY_BETA
The key to the beta time-share of the S-curve.
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static String |
KEY_JERK
The key to the jerk of the S-curve.
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private SCurve |
movealong
The old s-curve movement.
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private SCurve |
moveto
The next active s-curve.
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private double |
switchover
The time at which the new s-curve will become active.
|
KEY_LISTSEPARATOR, KEY_MAPKEYVALUECHAR, KEY_MAPSEPARATORCONFIG, KEY_CLASS| Constructor and Description |
|---|
TelescopeAxis(Map prop)
Constructs a new telescope axis object.
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| Modifier and Type | Method and Description |
|---|---|
double |
getAxisPosition(double tnow)
Gets the telescope axis position at the time in question.
|
void |
setDeadtime(double dead)
Sets the deadtime.
|
void |
setDesiredOffset(double offset,
double tnow)
Set the offset the axis should acquire.
|
void |
setJerkConstant(double jerk)
Sets the motor jerk.
|
augment, augment, augment, augment, augment, clone, defaultBoolean, defaultChar, defaultDouble, defaultFloat, defaultInt, defaultLong, defaultObject, defaultObject, defaultProperties, defaultProperty, getAsBoolean, getAsChar, getAsDouble, getAsEnums, getAsFloat, getAsInt, getAsList, getAsLong, getAsMap, getAsMap, getAsObject, getAsObject, getProperties, getProperty, has, initProperties, isNew, parseObject, parseObject, reload, reload, removeProperty, requires, rescanned, setObject, setProperties, setProperty, stringProperties, toStringpublic static final String KEY_ALPHA
public static final String KEY_BETA
public static final String KEY_JERK
private static final double DEFALPHA
private static final double DEFBETA
private static final double DEFJERK
private double deadtime
private SCurve moveto
private SCurve movealong
private double switchover
public TelescopeAxis(Map prop)
public void setDeadtime(double dead)
public void setJerkConstant(double jerk)
public void setDesiredOffset(double offset,
double tnow)
offset - The offset the telescope should now follow.tnow - The current time. This determines when the new offset will
get active, at tnow plus deadtime.public double getAxisPosition(double tnow)
SCurve.getDistance(double) method with the current time and
return. If the time in question is over the switchover time for
the first time, we query the telescope axis movealong object
for the acceleration, velocity and distance at the switchover time.
This are the BC's for the moveto object, which is then
started at the switch time. The moveto object is now shifted
to the movealong state, and distances are queried from it.