00001 ////////////////////////////////////////////////////////////////////////////////////////////////// 00002 /*! \file PhysicalLinearActuator.h 00003 * \Header file for PhysicalLinearActuator class 00004 * \author $Author: bwilliam $ 00005 * \version $Revision: 1.3 $ 00006 * \date $Date: 2006/06/27 15:27:12 $ 00007 *////////////////////////////////////////////////////////////////////////////////////////////////// 00008 /*! 00009 */ 00010 ////////////////////////////////////////////////////////////////////////////////////////////////// 00011 00012 00013 #ifndef __SSSL_PHYSICALLINEARACTUATOR_H__ 00014 #define __SSSL_PHYSICALLINEARACTUATOR_H__ 00015 00016 #include <Base/Actuator.h> 00017 #include <matrix/Matrix.h> 00018 #include <string> 00019 #include <sstream> 00020 00021 extern "C" { 00022 #include <Hardware/satctl.h> 00023 #include <Hardware/common.h> 00024 } 00025 00026 #include <iostream.h> 00027 #include <utils/Time.h> 00028 #include <fstream.h> 00029 #include <pthread.h> 00030 00031 using namespace std; 00032 using namespace O_SESSAME; 00033 00034 /*! Class to interact with actual linear actuators */ 00035 class PhysicalLinearActuator { 00036 public: 00037 00038 ////////////////////////////////////////////////// 00039 // Contructors/Deconstructors // 00040 ////////////////////////////////////////////////// 00041 00042 /*! Default Constructor */ 00043 PhysicalLinearActuator(); 00044 00045 /*! Default Deconstructor */ 00046 ~PhysicalLinearActuator(); 00047 00048 ////////////////////////////////////////////////// 00049 // Facilitators // 00050 ////////////////////////////////////////////////// 00051 00052 /*!Will move the linear actuator a desired distance in either direction*/ 00053 /*!param_distance double representing the desired travel distance and direction (inches)*/ 00054 00055 int TravelDistance(double param_distance); 00056 00057 /*!Will move the linear actuator to a desired position*/ 00058 /*!param_position double representing the desired position to move to (inches)*/ 00059 00060 int TravelPosition(double param_position); 00061 00062 /*!Set velocity for the linear actuator*/ 00063 /*!velocity represents velocity range from 0-50*/ 00064 00065 int SetVelocity(double velocity); 00066 00067 /*! Start linear actuator jog*/ 00068 00069 int StartJog(int direction); 00070 00071 /*! Stop the linear actuator*/ 00072 00073 int Stop(); 00074 00075 /*! Initialize the linear actuator(s)*/ 00076 00077 int Initialize(int action, char *port); 00078 00079 /*! Deinitialize the linear actuator*/ 00080 00081 int Deinitialize(); 00082 00083 00084 ////////////////////////////////////////////////// 00085 // Inspectors // 00086 ////////////////////////////////////////////////// 00087 00088 /*!gives the current postion of the LinearActuator (inches)*/ 00089 double QueryCurrentPosition( ); 00090 00091 friend class LinearActuator; 00092 private: 00093 int LinearActuatorDescription; //lades 00094 char *SerialNumber; //serno 00095 char *portfn; 00096 int portfd; 00097 double UpperLimit; //hi_l 00098 double LowerLimit; //lo_l 00099 double Travel; //travel 00100 int MaxTravelTime; //mtt 00101 double CurrentPosition; //curpos 00102 double PositionVelocity; //posvel 00103 int PositionAcceleration; //posacc 00104 int PositionDeceleration; //posdec 00105 int JogVelocity; //jogvel 00106 int JogAcceleration; //jogacc 00107 double param_distance; 00108 double param_position; 00109 la_t la; 00110 00111 }; 00112 00113 #endif 00114 // Do not change the comments below - they will be added automatically by CVS 00115 /***************************************************************************** 00116 * $Log: PhysicalLinearActuator.h,v $ 00117 * Revision 1.3 2006/06/27 15:27:12 bwilliam 00118 * Added jog functions. Added port file name and removed references to debug variable in initialization function. 00119 * 00120 * 00121 * 00122 * 00123 * 00124 ****************************************************************************/ 00125
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