JSci.instruments.pi
Class Mercury

java.lang.Object
  JSci.instruments.PositionControlAdapter
      JSci.instruments.pi.Mercury

All Implemented Interfaces:

Control, PositionControl

public abstract class Mercury
extends PositionControlAdapter

A mechanical device attached to a Mercury PI board.
Attention! The Mercury board forgets the position of the axes when it is reset or is turned off. Do not turn off the Mercury while the motor is moving!
There is a lot of final and protected methods, because this should be not be simply sub-classed by motor-specific classes, but it should be included in them.

Field Summary

protected static java.lang.String	ACTIVITY_ACT_NEG_LIMIT
protected static java.lang.String	ACTIVITY_ACT_POS_LIMIT
protected static java.lang.String	ACTIVITY_AXIS_SETTLED
protected static java.lang.String	ACTIVITY_IN_MOTION
protected static java.lang.String	ACTIVITY_MAX_VELOCITY
protected static java.lang.String	ACTIVITY_MOTOR_STATUS
protected static java.lang.String	ACTIVITY_PHASING_INITD
protected static java.lang.String	ACTIVITY_POSITION_CAPTURE
protected static java.lang.String	ACTIVITY_PROFILE_MODE_0
protected static java.lang.String	ACTIVITY_PROFILE_MODE_1
protected static java.lang.String	ACTIVITY_PROFILE_MODE_2
protected static java.lang.String	ACTIVITY_RESERVED
protected static java.lang.String	ACTIVITY_TRACKING
static java.lang.String	C136 The C-136.10 motor
static java.lang.String	C150PD The C-150.PD motor
protected static java.lang.String	EVENT_BREAKPOINT1
protected static java.lang.String	EVENT_BREAKPOINT2
protected static java.lang.String	EVENT_CAPTURE_RECEIVED
protected static java.lang.String	EVENT_COMMUNICATION_ERR
protected static java.lang.String	EVENT_INSTRUCTION_ERR
protected static java.lang.String	EVENT_MOTION_COMPLETE
protected static java.lang.String	EVENT_MOTION_ERROR
protected static java.lang.String	EVENT_NEG_LIMIT
protected static java.lang.String	EVENT_POS_LIMIT
protected static java.lang.String	EVENT_WRAP_AROUND
static java.lang.String	M126PD The M-126.PD motor
static java.lang.String	RAW A generic motor driven by Mercury
(package private) javax.swing.JFrame	setLimitsDialog
protected static java.lang.String	SIGNAL_AXIS_IN
protected static java.lang.String	SIGNAL_AXIS_OUT
protected static java.lang.String	SIGNAL_ENCODER_A
protected static java.lang.String	SIGNAL_ENCODER_B
protected static java.lang.String	SIGNAL_ENCODER_HOME
protected static java.lang.String	SIGNAL_ENCODER_INDEX
protected static java.lang.String	SIGNAL_HALL_A
protected static java.lang.String	SIGNAL_HALL_B
protected static java.lang.String	SIGNAL_HALL_C
protected static java.lang.String	SIGNAL_MOTOR_OUTPUT
protected static java.lang.String	SIGNAL_NEG_LIMIT
protected static java.lang.String	SIGNAL_POS_LIMIT
protected static java.lang.String	SIGNAL_STEP_OUTPUT

Fields inherited from class JSci.instruments.PositionControlAdapter

listenerList

Constructor Summary

protected

Mercury(int p, java.io.DataInput rfi, java.io.DataOutput rfo, int n) Remember this class is abstract!

Method Summary

protected void	clearErrors() Clear errors
protected javax.swing.JPanel	createButtonControlPanel() Create a JPanel with buttons for controlling the motor. ATTENZIONE! NON E' COMPLETO!!!
static Mercury	createMotorDevice(java.lang.String t, int p, java.io.DataInput rfi, java.io.DataOutput rfo, int n, double gf) Call this to build a driver for a given motor, instead of calling the constructor.
static Mercury	createMotorDevice(java.lang.String t, int p, int n) Call this to build a driver for a given motor, instead of calling the constructor.
static Mercury	createMotorDevice(java.lang.String t, int p, int n, double gf) Call this to build a driver for a given motor, instead of calling the constructor.
protected javax.swing.JPanel	createPositionPanel(boolean monitor, boolean vertical, boolean inverted) Create a JPanel with the controls of the position
protected javax.swing.JPanel	createVelocityPanel(boolean monitor) Create a JPanel with the controls of the velocity
double	doGetPosition()
double	doGetPositionError()
protected void	findCenter() move to the position between the two limit switches.
protected java.util.Hashtable	getActivityStatus() get the status of activity.
double	getActualPosition() get the actual position while the axis is moving.
double	getActualVelocity() get the actual velocity while moving.
protected boolean	getBrake() check if the brake is on or off.
abstract java.awt.Component	getControlComponent() The motor can be controlled by a visual component, with buttons, sliders and so on.
protected java.util.Hashtable	getEventStatus() get the status of event.
double	getMajorStep() get the major step suggested for changing the position
double	getMaximum() get the maximum value of position
double	getMaxVelocity() get the maximum value of velocity
double	getMinimum() get the minimum value of position
double	getMinorStep() get the minor step suggested for changing the position
protected boolean	getMotorOn() check if the motor is on or off.
double	getPosition() get the position.
double	getPositionError() get the error on the actual position.
protected java.util.Hashtable	getSignalStatus() get the status of signal.
java.lang.String	getUnit() get the unit in which the position is expressed
double	getVelocity() get the velocity that should be reached when moving.
double	getVelocityStep() get the step suggested for changing the velocity
java.lang.String	getVelocityUnit() get the unit in which the velocity is expressed
static void	main(java.lang.String[] args) Useful controls for the Mercury board.
protected void	setBrake(boolean b) switch the brake on or off.
void	setLimits() runs a graphical configuration of the limits.
protected void	setLimitSwitches(boolean b) set the limit switch polarity.
void	setMaximum(double m) set the maximum value of position.
void	setMinimum(double m) set the minimum value of position.
protected void	setMotorOn(boolean b) switch the motor on or off.
void	setPosition(double p) move the device to the given position.
void	setVelocity(double v) set the velocity the device will reach when moving.
void	sleep() sleep until the axis has reached its position
java.lang.String	toString() Report port number, device number and version

Methods inherited from class JSci.instruments.PositionControlAdapter

addChangeListener, fireStateChanged, getChangeListeners, getListeners, removeChangeListener

Methods inherited from class java.lang.Object

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

Field Detail

EVENT_MOTION_COMPLETE

protected static final java.lang.String EVENT_MOTION_COMPLETE

See Also:

Constant Field Values

EVENT_WRAP_AROUND

protected static final java.lang.String EVENT_WRAP_AROUND

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Constant Field Values

EVENT_BREAKPOINT1

protected static final java.lang.String EVENT_BREAKPOINT1

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Constant Field Values

EVENT_CAPTURE_RECEIVED

protected static final java.lang.String EVENT_CAPTURE_RECEIVED

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Constant Field Values

EVENT_MOTION_ERROR

protected static final java.lang.String EVENT_MOTION_ERROR

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Constant Field Values

EVENT_POS_LIMIT

protected static final java.lang.String EVENT_POS_LIMIT

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Constant Field Values

EVENT_NEG_LIMIT

protected static final java.lang.String EVENT_NEG_LIMIT

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Constant Field Values

EVENT_INSTRUCTION_ERR

protected static final java.lang.String EVENT_INSTRUCTION_ERR

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Constant Field Values

EVENT_COMMUNICATION_ERR

protected static final java.lang.String EVENT_COMMUNICATION_ERR

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Constant Field Values

EVENT_BREAKPOINT2

protected static final java.lang.String EVENT_BREAKPOINT2

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Constant Field Values

SIGNAL_ENCODER_A

protected static final java.lang.String SIGNAL_ENCODER_A

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Constant Field Values

SIGNAL_ENCODER_B

protected static final java.lang.String SIGNAL_ENCODER_B

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Constant Field Values

SIGNAL_ENCODER_INDEX

protected static final java.lang.String SIGNAL_ENCODER_INDEX

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Constant Field Values

SIGNAL_ENCODER_HOME

protected static final java.lang.String SIGNAL_ENCODER_HOME

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Constant Field Values

SIGNAL_POS_LIMIT

protected static final java.lang.String SIGNAL_POS_LIMIT

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Constant Field Values

SIGNAL_NEG_LIMIT

protected static final java.lang.String SIGNAL_NEG_LIMIT

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Constant Field Values

SIGNAL_AXIS_IN

protected static final java.lang.String SIGNAL_AXIS_IN

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Constant Field Values

SIGNAL_HALL_A

protected static final java.lang.String SIGNAL_HALL_A

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Constant Field Values

SIGNAL_HALL_B

protected static final java.lang.String SIGNAL_HALL_B

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Constant Field Values

SIGNAL_HALL_C

protected static final java.lang.String SIGNAL_HALL_C

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Constant Field Values

SIGNAL_AXIS_OUT

protected static final java.lang.String SIGNAL_AXIS_OUT

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Constant Field Values

SIGNAL_STEP_OUTPUT

protected static final java.lang.String SIGNAL_STEP_OUTPUT

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Constant Field Values

SIGNAL_MOTOR_OUTPUT

protected static final java.lang.String SIGNAL_MOTOR_OUTPUT

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Constant Field Values

ACTIVITY_PHASING_INITD

protected static final java.lang.String ACTIVITY_PHASING_INITD

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Constant Field Values

ACTIVITY_MAX_VELOCITY

protected static final java.lang.String ACTIVITY_MAX_VELOCITY

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Constant Field Values

ACTIVITY_TRACKING

protected static final java.lang.String ACTIVITY_TRACKING

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Constant Field Values

ACTIVITY_PROFILE_MODE_0

protected static final java.lang.String ACTIVITY_PROFILE_MODE_0

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Constant Field Values

ACTIVITY_PROFILE_MODE_1

protected static final java.lang.String ACTIVITY_PROFILE_MODE_1

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Constant Field Values

ACTIVITY_PROFILE_MODE_2

protected static final java.lang.String ACTIVITY_PROFILE_MODE_2

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Constant Field Values

ACTIVITY_RESERVED

protected static final java.lang.String ACTIVITY_RESERVED

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Constant Field Values

ACTIVITY_AXIS_SETTLED

protected static final java.lang.String ACTIVITY_AXIS_SETTLED

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Constant Field Values

ACTIVITY_MOTOR_STATUS

protected static final java.lang.String ACTIVITY_MOTOR_STATUS

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Constant Field Values

ACTIVITY_POSITION_CAPTURE

protected static final java.lang.String ACTIVITY_POSITION_CAPTURE

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Constant Field Values

ACTIVITY_IN_MOTION

protected static final java.lang.String ACTIVITY_IN_MOTION

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Constant Field Values

ACTIVITY_ACT_POS_LIMIT

protected static final java.lang.String ACTIVITY_ACT_POS_LIMIT

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Constant Field Values

ACTIVITY_ACT_NEG_LIMIT

protected static final java.lang.String ACTIVITY_ACT_NEG_LIMIT

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Constant Field Values

C150PD

public static final java.lang.String C150PD

The C-150.PD motor

See Also:

Constant Field Values

C136

public static final java.lang.String C136

The C-136.10 motor

See Also:

Constant Field Values

M126PD

public static final java.lang.String M126PD

The M-126.PD motor

See Also:

Constant Field Values

RAW

public static final java.lang.String RAW

A generic motor driven by Mercury

See Also:

Constant Field Values

setLimitsDialog

javax.swing.JFrame setLimitsDialog

Constructor Detail

Mercury

protected Mercury(int p,
                  java.io.DataInput rfi,
                  java.io.DataOutput rfo,
                  int n)

Remember this class is abstract!

Parameters:

p - the ttyS port number at which the Mercury is attached

rfi - the input file connected to the port; something like new RandomAccessFile("/dev/ttyS0","rw")

rfo - the output file connected to the port; something like new RandomAccessFile("/dev/ttyS0","rw")

n - the number of the axis

Method Detail

setLimitSwitches

protected final void setLimitSwitches(boolean b)

set the limit switch polarity.

Parameters:

b - the switch signals are high when out-of-limit?

findCenter

protected void findCenter()

move to the position between the two limit switches.

setPosition

public void setPosition(double p)

move the device to the given position. Checking the limits must be done (if necessary) by the extending class (note this class is abstract!)

Specified by:

setPosition in interface PositionControl

Specified by:

setPosition in class PositionControlAdapter

Parameters:

p - the position that we want to reach, in counts. It is rounded to its nearest integer position

getPosition

public double getPosition()

get the position.

Specified by:

getPosition in interface PositionControl

Specified by:

getPosition in class PositionControlAdapter

Returns:

the position in counts. It is alwais an integer value

doGetPosition

public double doGetPosition()

getActualPosition

public double getActualPosition()

get the actual position while the axis is moving.

Specified by:

getActualPosition in interface PositionControl

Specified by:

getActualPosition in class PositionControlAdapter

Returns:

the position in counts. It is alwais an integer value

getMinimum

public double getMinimum()

get the minimum value of position

Specified by:

getMinimum in interface PositionControl

Specified by:

getMinimum in class PositionControlAdapter

Returns:

the minimum position

getMaximum

public double getMaximum()

get the maximum value of position

Specified by:

getMaximum in interface PositionControl

Specified by:

getMaximum in class PositionControlAdapter

Returns:

the maximum position

setMinimum

public void setMinimum(double m)

set the minimum value of position. Only root can do this.

Parameters:

m - the minimum position

setMaximum

public void setMaximum(double m)

set the maximum value of position. Only root can do this.

Parameters:

m - the maximum position

getUnit

public java.lang.String getUnit()

get the unit in which the position is expressed

Specified by:

getUnit in interface PositionControl

Specified by:

getUnit in class PositionControlAdapter

Returns:

the units

getMinorStep

public double getMinorStep()

get the minor step suggested for changing the position

Returns:

the suggested minor step

getMajorStep

public double getMajorStep()

get the major step suggested for changing the position

Returns:

the suggested major step

getPositionError

public double getPositionError()

get the error on the actual position.

Returns:

the error on the position in counts. It is rounded to its nearest integer position.

doGetPositionError

public double doGetPositionError()

setVelocity

public void setVelocity(double v)

set the velocity the device will reach when moving. Checking the limits must be done (if necessary) by the extending class (note this class is abstract!)

Parameters:

v - the velocity in counts per cycle. It is rounded to its nearest integer position.

getVelocity

public double getVelocity()

get the velocity that should be reached when moving.

Returns:

the velocity in counts per cycle. It is rounded to its nearest integer position.

getActualVelocity

public double getActualVelocity()

get the actual velocity while moving.

Returns:

the velocity in counts per cycle. It is rounded to its nearest integer position.

getMaxVelocity

public double getMaxVelocity()

get the maximum value of velocity

Returns:

the maximum velocity

getVelocityStep

public double getVelocityStep()

get the step suggested for changing the velocity

Returns:

the suggested step

getVelocityUnit

public java.lang.String getVelocityUnit()

get the unit in which the velocity is expressed

Returns:

the units

clearErrors

protected void clearErrors()

Clear errors

setMotorOn

protected void setMotorOn(boolean b)

switch the motor on or off.

Parameters:

b - do you want to switch the motor on?

getMotorOn

protected boolean getMotorOn()

check if the motor is on or off.

Returns:

the motor is on?

setBrake

protected void setBrake(boolean b)

switch the brake on or off.

Parameters:

b - do you want to switch the brake on?

getBrake

protected boolean getBrake()

check if the brake is on or off.

Returns:

the brake is on?

getEventStatus

protected java.util.Hashtable getEventStatus()

get the status of event. CURRENTLY NOT IMPLEMENTED.

Returns:

the properties of the event.

getSignalStatus

protected java.util.Hashtable getSignalStatus()

get the status of signal. CURRENTLY NOT IMPLEMENTED.

Returns:

the properties of the signal.

getActivityStatus

protected java.util.Hashtable getActivityStatus()

get the status of activity. CURRENTLY NOT IMPLEMENTED.

Returns:

the property of activity

sleep

public void sleep()

sleep until the axis has reached its position

Specified by:

sleep in interface PositionControl

Specified by:

sleep in class PositionControlAdapter

createPositionPanel

protected javax.swing.JPanel createPositionPanel(boolean monitor,
                                                 boolean vertical,
                                                 boolean inverted)

Create a JPanel with the controls of the position

Parameters:

monitor - monitor the actual position every 0.1 s.

vertical - the direction of motion is vertical

inverted - invert the direction of motion

createVelocityPanel

protected javax.swing.JPanel createVelocityPanel(boolean monitor)

Create a JPanel with the controls of the velocity

Parameters:

monitor - monitor the actual velocity every 0.1 s.

createButtonControlPanel

protected javax.swing.JPanel createButtonControlPanel()

Create a JPanel with buttons for controlling the motor.
ATTENZIONE! NON E' COMPLETO!!!

getControlComponent

public abstract java.awt.Component getControlComponent()

The motor can be controlled by a visual component, with buttons, sliders and so on. Call this to get the Component (actually, a JPanel). This component displays also many informations.

Specified by:

getControlComponent in interface Control

Specified by:

getControlComponent in interface PositionControl

Specified by:

getControlComponent in class PositionControlAdapter

Returns:

the Component with the controls for the position

createMotorDevice

public static Mercury createMotorDevice(java.lang.String t,
                                        int p,
                                        java.io.DataInput rfi,
                                        java.io.DataOutput rfo,
                                        int n,
                                        double gf)

Call this to build a driver for a given motor, instead of calling the constructor.

Parameters:

t - the type of motor connected to the board (see RAW,C150PD, C136, M126PD).

p - the number of the ttyS port

rfi - the input file connected to the port

rfo - the output file connected to the port

n - the number of the axis

gf - if there's a mechanical device such as a gear, gf is the ratio final motion/motor motion. gf=1 for RAW.

createMotorDevice

public static Mercury createMotorDevice(java.lang.String t,
                                        int p,
                                        int n,
                                        double gf)

Call this to build a driver for a given motor, instead of calling the constructor.

Parameters:

t - the type of motor connected to the board (see RAW,C150PD, C136, M126PD).

p - the number of the ttyS port

n - the number of the axis

gf - if there's a mechanical device such as a gear, gf is the ratio final motion/motor motion. gf=1 for RAW.

createMotorDevice

public static Mercury createMotorDevice(java.lang.String t,
                                        int p,
                                        int n)

Call this to build a driver for a given motor, instead of calling the constructor.

Parameters:

t - the type of motor connected to the board (see RAW,C150PD, C136, M126PD).

p - the number of the ttyS port

n - the number of the axis

toString

public java.lang.String toString()

Report port number, device number and version

Overrides:

toString in class java.lang.Object

main

public static void main(java.lang.String[] args)

Useful controls for the Mercury board. Parameters can be supplied.
Syntax:
java it.unimi.pi.Mercury {options} {commands}
The options can be:
-h : print the help
-m type : set the motor type ("Raw" by default)
-p ttyS_number : set the ttyS port number (0 by default)
-n axis_number : set the axis number (0 by default)
-g gear_factor : set the gear factor (1 by default)
The commands can be:
setMinimum position : set the minimum of the position (only root can do this)
setMaximum position : set the maximum of the position (only root can do this)
setPosition position : move the motor to the given position
setLimits : graphical interface for setting limits of the given motor (only root can do this)
monitor : open a window with the control component for the desired motor.
motors : print a list of known motor types. "Raw" is a generic motor, with the units used by the board.

setLimits

public void setLimits()

runs a graphical configuration of the limits. Only root can do this. This operation allows the movement of the device outside the current limits; this could damage the device.