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Device Server |
Trait Point Plan Generic Device |
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Implemented in C++ |
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| BackExtElevationMotorName | Tango::DEV_STRING | This property gives the name of the back exterior (to the ring) motor use to move for up to down and up to down the back exterior leg. |
| BackIntElevationMotorName | Tango::DEV_STRING | This property gives the name of the back interior motor use to move from up and down and down to up the back interior leg |
| BackTranslationMotorName | Tango::DEV_STRING | This property gives the device name of the motor use to translate the two back legs from left to right and right to left. |
| CenterHorizontalToFront | Tango::DEV_DOUBLE | The value of the horizontal center to front |
| CenterToHeight | Tango::DEV_DOUBLE | Distance between the center of the table at the bottom and the elevation of the table and his thickness. |
| CenterVerticalToFront | Tango::DEV_DOUBLE | Distance between the center of the table and the front leg. (The vertical one) |
| CommandStateName | Tango::DEV_STRING | The name of the command to check the state of the proxies. |
| CommandStopName | Tango::DEV_STRING | Name of the command to Stop all Axis (eg: AxisStop). |
| DeviceType | string | The two available choices are : - 3 : the device is composed of three motors. - 5 : the device is composed of five motors. |
| FrontElevationMotorName | Tango::DEV_STRING | This property gives the name of the front motor use to move for up to down and up to down the front leg. |
| FrontTranslationMotorName | Tango::DEV_STRING | This property gives the device name of the motor use to translate the front leg from left to right and right to left. |
| NominalPitch | Tango::DEV_DOUBLE | Nominal value for pitch. |
| NominalRoll | Tango::DEV_DOUBLE | Nominal value for roll. |
| NominalXc | Tango::DEV_DOUBLE | Nominal value for Xc. |
| NominalYaw | Tango::DEV_DOUBLE | Nominal value for yaw. |
| NominalZc | Tango::DEV_DOUBLE | Nominal value of the elevation Zc. |
| PitchDirection | Tango::DEV_BOOLEAN | Indicates the pitch sign to define if the pitch is positive or negative when the table roll toward up. The convention is the table pitch toward down (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| RollDirection | Tango::DEV_BOOLEAN | Indicates the roll sign to define if the roll is positive or negative when the table roll toward right. The convention is the table roll toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| YawDirection | Tango::DEV_BOOLEAN | Indicates the Yaw sign to define if the yaw is positive or negative when the table yaw toward right. The convention is the table yaw toward right (we look behind the beam) Convention = TRUE = 1.0 FALSE = -1.0 |
| TableLength | Tango::DEV_DOUBLE | The length of the table. |
| TableWidth | Tango::DEV_DOUBLE | Width of the table. |
| AngleUnit | Tango::DEV_STRING | Unit to be used to expressed the angualr attrrbutes (Pitch, Rooll Yaw) Value is either "Deg" or mRad" |
| PitchMechanicalLimits | Array of double | Pitch mechanical array limits as follow : 0 : min limit value 1 : max limit value |
| RollMechanicalLimits | Array of double | Roll mechanical array limits as follow : 0 : min limit value 1 : max limit value |
| YawMechanicalLimits | Array of double | Yaw mechanical array limits as follow : 0 : min limit value 1 : max limit value |
| Property Name | Default Values |
| BackExtElevationMotorName | No default value |
| BackIntElevationMotorName | No default value |
| BackTranslationMotorName | No default value |
| CenterHorizontalToFront | No default value |
| CenterToHeight | No default value |
| CenterVerticalToFront | No default value |
| CommandStateName | state |
| CommandStopName | stop |
| DeviceType | No default value |
| FrontElevationMotorName | No default value |
| FrontTranslationMotorName | No default value |
| NominalPitch | No default value |
| NominalRoll | No default value |
| NominalXc | No default value |
| NominalYaw | No default value |
| NominalZc | No default value |
| PitchDirection | No default value |
| RollDirection | No default value |
| YawDirection | No default value |
| TableLength | No default value |
| TableWidth | No default value |
| AngleUnit | No default value |
| PitchMechanicalLimits | No default value |
| RollMechanicalLimits | No default value |
| YawMechanicalLimits | No default value |
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| pitch: Value of the pitch (Rx). | |||
| roll: Value of the roll (Rs). | |||
| yaw: Value of the Yaw (Rz). | |||
| zC: Altitude of the center of the table (Tz). | |||
| xC: The X position of the center of the table (Tx). | |||
| t1z: Value of the front elevation. This value is used in expert mode if the user want to directly enter the elevation of the front leg without passing by the roll, pitch , yaw upper-level methods. | |||
| t2z: Value of the back left elevation. This value is used in expert mode if the user want to directly enter the elevation of the back left leg without passing by the roll, pitch , yaw upper-level methods. | |||
| t3z: Value of the back right elevation. This value is used in expert mode if the user want to directly enter the elevation of the back right leg without passing by the roll, pitch , yaw upper-level methods. | |||
| t4x: Value of the front translation. This value is used in expert mode if the user want to directly enter the translation of the front leg without passing by the roll, pitch , yaw upper-level methods. | |||
| t5x: Value of the back translation. This value is used in expert mode if the user want to directly enter the translation of the back leg without passing by the roll, pitch , yaw upper-level methods. | |||
| pitchSoftLimitMin: Computed picth soft limit min value (according to min of t1z, t2z, t3z and tableLength). | |||
| pitchSoftLimitMax: Computed picth soft limit max value (according to max of t1z, t2z, t3z and tableLength). | |||
| rollSoftLimitMin: Computed roll soft limit min value (according to min of t1z, t2z, t3z and tableLength). | |||
| rollSoftLimitMax: Computed roll soft limit max value (according to max of t1z, t2z, t3z and tableLength). | |||
| yawSoftLimitMin: Computed yaw soft limit min value (according to min of t4x, t5x and tableLength). | |||
| yawSoftLimitMax: Computed yaw soft limit max value (according to max of t4x, t5x and tableLength). | |||
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| Init | DEV_VOID | DEV_VOID |
| State | DEV_VOID | DEV_STATE |
| Status | DEV_VOID | CONST_DEV_STRING |
| SaveAsNominal | DEV_VOID | DEV_VOID |
| GoToNominal | DEV_VOID | DEV_VOID |
| Stop | DEV_VOID | DEV_VOID |
| Undo | DEV_VOID | DEV_VOID |
| MotorsToZero | DEV_VOID | DEV_VOID |
| InitializeTraitPointPlan | DEV_VOID | DEV_VOID |
TANGO is an open source project hosted by :
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Core and Tools :
CVS repository on
tango-cs project
Device Servers : CVS repository on tango-ds project |