Development status:
Released,
Release: release_1_2_17
Information status: Updated
Repository:
http://svn.code.sf.net/p/tango-ds/code/DeviceClasses/Motion/Hexapods/HexapodFMB
Contact:
Class Description
provides 3 fixed positions for high level use of FMB Oxford
Families: Motion
Key words: - Hexapods
Platform: All Platforms
Language: Cpp
Contact:
Hardware
Manufacturer: none
Bus: Ethernet
Class interface
Attributes:
| Name | Description |
|---|---|
| labelListSpectrum: DevString | — |
| selectedAttributeNameScalar: DevString | — |
Commands:
| Name | Description |
|---|---|
| StopInput: DevVoid Output: DevVoid |
None. |
| InitializeReferencePositionInput: DevVoid Output: DevVoid |
Homes the hexapod (send it to Home position and stays there)) |
| StatusInput: DevVoid Output: DevString |
This command gets the device status (stored in its device_status data member) and returns it to the caller. |
| StateInput: DevVoid Output: State |
This command gets the device state (stored in its device_state data member) and returns it to the caller. |
Pipes:
Properties:
| Name | Description |
|---|---|
| DeadbandDouble[]Type | array of deadband (1 for each axis, ordered as in FixedPositionSyntax) the current position is considered good if position reaches the position +/- the deadbands |
| FixedPositionsSyntaxString[]Type | Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1 |
| FixedPositionsPropString[]Type | Fixed positions property : used to create dynamic attributes to check and set fixed positions Syntax : (exact syntax needed) ma_position_1 RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.001 parking RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z RZ ;RS ;RX ;X ;S ;Z 0.1 |
| PortDevShort | port to connect to Hexapod Controller |
| UrlDevString | IP Address of the Hexapod Controller |
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README
Technical requirements
- The YAT library MUST be used by COSYLAB to manage Exceptions, Sockets , and String/numerical conversions. YAT library is available from the public projet tango-ds hosted on Sourceforge : http://tango-ds.cvs.sourceforge.net/viewvc/tango-ds/Libraries/YAT/
Functional requirements
The file hexapod.h and hexapod_states_definitions.h defines SOLEIL MANDATORY functional requirements to drive the hexapod and deal with states of the systems
Error handling
....
Coding requirements
To ease the future maintenance of the library, some good programming practices should be followed by COSYLAB. The files hexapod_definitions.h and hexapod.cpp proposes first idea of code implementations.
Updated:
The device class has been updated.
You can see previous version here .
23 Feb 2017, Piotr Goryl
Created:
The device class has been added to catalogue.