155 lines
4.5 KiB
C++
155 lines
4.5 KiB
C++
#ifndef seleneAngleAxis_H
|
|
#define seleneAngleAxis_H
|
|
#include "turboPmacAxis.h"
|
|
|
|
// Forward declaration of the seleneLiftAxis class to resolve the cyclic
|
|
// dependency between the seleneLiftAxis and the seleneAngleAxis .h-file.
|
|
// See https://en.cppreference.com/w/cpp/language/class.
|
|
class seleneLiftAxis;
|
|
|
|
// Forward declaration of the seleneGuideController class to resolve the cyclic
|
|
// dependency. See https://en.cppreference.com/w/cpp/language/class.
|
|
class seleneGuideController;
|
|
|
|
/**
|
|
* @brief Virtual axis for setting the angle of the Selene guide
|
|
*
|
|
* Please see README.md for a detailed explanation.
|
|
*/
|
|
class seleneAngleAxis : public turboPmacAxis {
|
|
public:
|
|
/**
|
|
* @brief Construct a new seleneAngleAxis.
|
|
*
|
|
* This function should not be called directly. Instead use the constructor
|
|
* of seleneLiftAxis, which creates a seleneAngleAxis and stores a pointer
|
|
* to it.
|
|
*
|
|
* @param pController Pointer to the associated controller
|
|
* @param axisNo Index of the axis
|
|
* @param liftAxis Pointer to the associated lift axis
|
|
*/
|
|
seleneAngleAxis(seleneGuideController *pController, int axisNo,
|
|
seleneLiftAxis *liftAxis);
|
|
|
|
virtual ~seleneAngleAxis();
|
|
|
|
/**
|
|
* @brief Implementation of the `stop` function from asynMotorAxis
|
|
*
|
|
* Stops all underlying physical axes at once
|
|
*
|
|
* @param acceleration Acceleration ACCEL from the motor record. This
|
|
* value is currently not used.
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus stop(double acceleration);
|
|
|
|
/**
|
|
* @brief Rotate the guide around its current lift center to the specified
|
|
* position.
|
|
*
|
|
* @param position
|
|
* @param relative
|
|
* @param min_velocity
|
|
* @param maxOffset_velocity
|
|
* @param acceleration
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus doMove(double position, int relative, double min_velocity,
|
|
double maxOffset_velocity, double acceleration);
|
|
|
|
/**
|
|
* @brief Implementation of the `doPoll` function from sinqAxis.
|
|
*
|
|
* Some paramLib entries of this axis are set in the `doPoll` function of
|
|
* `seleneLiftAxis` for convenience (e.g. whether this axis is moving or
|
|
* not).
|
|
*
|
|
* @param moving
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus doPoll(bool *moving);
|
|
|
|
/**
|
|
* @brief Reset all errors of the underlying physical axes.
|
|
*
|
|
* @param on
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus doReset();
|
|
|
|
/**
|
|
* @brief This function does nothing, since this axis cannot be enabled /
|
|
* disabled
|
|
*
|
|
* @param on
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus enable(bool on);
|
|
|
|
/**
|
|
* @brief "Home" the virtual axes by driving all underlying real axes to
|
|
* position 0.
|
|
*
|
|
* @param minVelocity
|
|
* @param maxVelocity
|
|
* @param acceleration
|
|
* @param forwards
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus doHome(double minVelocity, double maxVelocity,
|
|
double acceleration, int forwards);
|
|
|
|
/**
|
|
* @brief Read the target position from the axis and write it into the
|
|
* provided pointer.
|
|
*
|
|
* @param targetPosition
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus targetPosition(double *targetPosition);
|
|
|
|
/**
|
|
* @brief Set the offsets of axis 3 and 4 to zero and recalculate all other
|
|
* axes positions based on it.
|
|
*
|
|
* Calling this function "normalizes" the lift axis, the angle axis and the
|
|
* offset axes by performing a "normalization" operation. For details, see
|
|
* README.md. This function does not communicate with the controller.
|
|
*
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus normalizePositions();
|
|
|
|
/**
|
|
* @brief Write the encoder type in the corresponding PV
|
|
*
|
|
* Since this axis is a virtual one, it does not have an encoder. In order
|
|
* to enable reference drives (which in case of this axis simply sets all
|
|
* physical axes to their respective physical position zero), this function
|
|
* sets the encoder type to "Incremental Encoder".
|
|
*
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus readEncoderType();
|
|
|
|
/**
|
|
* @brief This function does nothing, since this axis does not have an
|
|
* encoder.
|
|
*
|
|
* @return asynStatus
|
|
*/
|
|
asynStatus rereadEncoder() { return asynSuccess; }
|
|
|
|
protected:
|
|
seleneGuideController *pC_;
|
|
seleneLiftAxis *liftAxis_;
|
|
|
|
private:
|
|
// True, if a target has been set for this axis
|
|
bool targetSet_;
|
|
};
|
|
|
|
#endif
|