TANGO
Device Server



 

 

 

 

Trait Point Plan Generic Device
User's Guide
 


TraitPointPlan Class
 

Revision: - Author: jcpret
Implemented in C++





 

 

Introduction:




Class Identification:


 

Class Inheritance:


 

 

 

Properties:




Device Properties
Property name
Property type
Description
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






Device Properties Default Values:
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



There is no Class properties.





 

 

Attributes:


Scalar Attributes
Attribute name
Data Type
R/W Type
Expert
pitch: Value of the pitch (Rx).
DEV_DOUBLE
READ_WRITE
No
roll: Value of the roll (Rs).
DEV_DOUBLE
READ_WRITE
No
yaw: Value of the Yaw (Rz).
DEV_DOUBLE
READ_WRITE
No
zC: Altitude of the center of the table (Tz).
DEV_DOUBLE
READ_WRITE
No
xC: The X position of the center of the table (Tx).
DEV_DOUBLE
READ_WRITE
No
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.
DEV_DOUBLE
READ_WRITE
Yes
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.
DEV_DOUBLE
READ_WRITE
Yes
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.
DEV_DOUBLE
READ_WRITE
Yes
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.
DEV_DOUBLE
READ_WRITE
Yes
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.
DEV_DOUBLE
READ_WRITE
Yes
pitchSoftLimitMin: Computed picth soft limit min value (according to min of t1z, t2z, t3z and tableLength).
DEV_DOUBLE
READ
Yes
pitchSoftLimitMax: Computed picth soft limit max value (according to max of t1z, t2z, t3z and tableLength).
DEV_DOUBLE
READ
Yes
rollSoftLimitMin: Computed roll soft limit min value (according to min of t1z, t2z, t3z and tableLength).
DEV_DOUBLE
READ
Yes
rollSoftLimitMax: Computed roll soft limit max value (according to max of t1z, t2z, t3z and tableLength).
DEV_DOUBLE
READ
Yes
yawSoftLimitMin: Computed yaw soft limit min value (according to min of t4x, t5x and tableLength).
DEV_DOUBLE
READ
Yes
yawSoftLimitMax: Computed yaw soft limit max value (according to max of t4x, t5x and tableLength).
DEV_DOUBLE
READ
Yes






 

 

Commands:



More Details on commands....


Device Commands for Operator Level
Command name
Argument In
Argument Out
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

 



1 - Init



2 - State



3 - Status



4 - SaveAsNominal



5 - GoToNominal



6 - Stop



7 - Undo



8 - MotorsToZero



9 - InitializeTraitPointPlan




 

 


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