Class Robot

java.lang.Object
  Robot

 class Robot
extends java.lang.Object

The class Robot provides methods for initialising the AF2 robot's hardware and axes, moving the axis motors, and getting the status of the robot. It also provides methods for viewing and moving fibres.

Field Summary

private static Robot	_instance
private int	AXIS_ERROR_LIMIT
private int	AXIS_ERROR_LIMIT_DISABLE
private int	AXIS_MAX_ALLOWED_ERROR
(package private) static MotionControllerAxis	AXIS_P
(package private) static MotionControllerAxis	AXIS_S
(package private) static MotionControllerAxis	AXIS_T
(package private) static MotionControllerAxis	AXIS_X
(package private) static MotionControllerAxis	AXIS_Y
(package private) static MotionControllerAxis	AXIS_Z
private boolean	ENCODER_SIMULATION
private RobotError	Error
private int	FIBRE_MAX_DRAG_DISTANCE
private int	FIBRE_MAX_OFFSET
private int	FIBRE_MAX_POS_ERROR
private int	FIBRE_PLACEMENT_ITERATIONS
private int	fibrePlacementIterations
private int	fibrePositioningTolerance
private int	GRIPPER_DELAY
private int	INPUT_PORT_AIR_PRESSURE_STATUS
private int	INPUT_PORT_FIBRE_MODULE_SWITCH_A
private int	INPUT_PORT_FIBRE_MODULE_SWITCH_B
private int	INPUT_PORT_GUIDE_FIBRE_BACK_ILLUM_STATUS
private int	INPUT_PORT_INSTRUMENT_POWER_STATUS
private int	INPUT_PORT_MOTOR_RELAY_STATUS
private int	INPUT_PORT_SCIENCE_FIBRE_BACK_ILLUM_STATUS
private int	INPUT_PORT_SERVO_AMPLIFIER_STATUS
private int	OUTPUT_PORT_GRIPPER_CONTROL
private int	OUTPUT_PORT_GUIDE_FIBRE_BACK_ILLUMINATION
private int	OUTPUT_PORT_INSPECTION_LIGHTS
private int	OUTPUT_PORT_INSTRUMENT_POWER
private int	OUTPUT_PORT_LIMIT_SWITCH_OVERRIDE
private int	OUTPUT_PORT_MOTOR_POWER
private int	P_ROBOT_SEPARATION
private boolean	SIMULATION
private RobotAxisConfigurationP	theAxisPConfiguration
private RobotAxisConfigurationT	theAxisTConfiguration
private RobotAxisConfigurationX	theAxisXConfiguration
private RobotAxisConfigurationY	theAxisYConfiguration
private RobotAxisConfigurationZ	theAxisZConfiguration
private MotionController	theMotionController
(package private) RobotConfiguration	theRobotConfiguration
private RobotTemperature	theRobotTemperature
private RobotXYAxisStraightness	theRobotXYAxisStraightness
private SkyViewingProbe	theSkyViewingProbe
private double	XY_NON_ORTHOGONALITY XY Axes non-orthogonality in radians

Constructor Summary

private

Robot() Robot private constructor

Method Summary

(package private) void	closeGripper() Close the gripper
private void	defineAuxiliaryEncoderPosition(MotionControllerAxis theAxis, int encoderPosition) Define the auxiliary encoder position
private void	defineEncoderPosition(MotionControllerAxis theAxis, int encoderPosition) Define the encoder position
private void	dragFibre(Fibre theFibre, int xOffset, int yOffset) Drag the fibre on the field plate by an offset in x and y
(package private) void	extract() Extract the robot from its limit switches
(package private) long	getAcceleration(MotionControllerAxis theAxis) Get the axis acceleration
private long	getClosestThetaAngle(long deltaThetaInArcMins) Get the closer theta angle to a given rotation angle
private long	getClosestThetaDemandEncoderPosition(long demandThetaInArcMins) Get the closest theta demand position to an angle
(package private) RobotConfiguration	getConfiguration() Get the robot's configuration
private java.awt.Point	getFibrePosition(Fibre theFibre) Get the fibre's position in the true robot coordinates
(package private) int	getFibrePositioningIterations() Get the number of fibre positioning iterations
(package private) int	getFibrePositioningTolerance() Get the fibre positioning tolerance
(package private) long	getPEncoderPosition() Get the probe encoder position
(package private) long	getPPositionInMicrons() Get the probe position in microns
(package private) java.awt.Point	getSkyViewingProbePositionInMicrons() Get the robot's sky viewing probe position in microns, corrected for temperature expansion and non-orthogonality
(package private) long	getSpeed(MotionControllerAxis theAxis) Get the axis speed
(package private) double	getTemperature() Get the robot temperature
(package private) long	getTEncoderPosition() Get the theta encoder position
(package private) long	getTPositionInArcmins() Get the theta angle
(package private) long	getTPositionInArcmins(long tEncoderPosition) Get the theta angle
(package private) long	getXEncoderPosition() Get the y encoder position
(package private) java.awt.Point	getXYCorrectedPositionInMicrons() Get the robot's true position in microns, corrected for temperature expansion and non-orthogonality
private java.awt.Point	getXYCorrectedPositionInMicrons(java.awt.Point theXYEncoderPosition) Get the true xy position in microns, corrected for thermal expansion, axis straightness, and non-orthogonality
private java.awt.Point	getXYDistance(java.awt.Point point1, java.awt.Point point2) Get the distance in x and y between two points
(package private) java.awt.Point	getXYLinearEncoderPosition() Get the x-y position of the robot from its linear encoders
private java.awt.Point	getXYOthogonalityCorrectedPosition(java.awt.Point thePosition, double theNonOrthogonalityAngle) Get the othogonality corrected position of the XY axes
private java.awt.Point	getXYTemperatureCorrectedPosition(java.awt.Point thePosition, double theTemperature) Get the position of the XY axes compensated for temperature
(package private) long	getYEncoderPosition() Get the x encoder position
(package private) long	getZEncoderPosition() Get the x encoder position
private boolean	hasPositionError(MotionControllerAxis theAxis) Check whether an axis has a position error
private void	homeP() Find the home position of the off-axis probe axis
private void	homeT() Find the home position of the Theta axis
private void	homeXY() Find the home position of the XY axes
private void	homeZ() Find the home position of the Z axis
(package private) void	initialise() Initialise the robot
(package private) void	initialisePAxis() Initialise the Probe axis
(package private) void	initialiseTAxis() Initialise the Theta axis
(package private) void	initialiseXYAxis() Initialise the X-Y axes of the robot
(package private) void	initialiseZAxis() Initialise the Z axis
static Robot	instance() The instance class method
(package private) boolean	isAirPressureOn() Is the air pressure power on
(package private) boolean	isGripperClosed() Is the gripper closed
(package private) boolean	isGripperLowered() Is the gripper lowered to the field plate
(package private) boolean	isGripperLowered(long zPosition) Is the gripper lowered to the field plate
(package private) boolean	isGuideFibreBackIlluminationOn() Is the guide fibre back illumination on
(package private) boolean	isInForwardLimit(MotionControllerAxis theAxis) Is the axis in its forward limit
(package private) boolean	isInReverseLimit(MotionControllerAxis theAxis) Is the axis in its reverse limit
(package private) boolean	isInspectionLightOn() Is the inspection light on
(package private) boolean	isInstrumentPowerOn() Is the insturment power on
(package private) boolean	isLargeFibreModuleSwitchOn() Is the large fibre module switch on
(package private) boolean	isMotorPowerOn() Is the motor power on
(package private) boolean	isScienceFibreBackIlluminationOn() Is the science fibre back illumination on
(package private) boolean	isServoAmplifierOn() Is the servo amplifier on
(package private) boolean	isSmallFibreModuleSwitchOn() Is the small fibre module switch on
private void	jog(MotionControllerAxis theAxis, long jogSpeed) Jog the axis
private void	liftGripper() Lift the gripper above the fibre buttons
(package private) void	loadFibre(Fibre theFibre, FibreModule theFibreModule) Update the true position of the fibre based on the centroid from the gripper camera system
(package private) void	loadModule(FibreModule theFibreModule) Load all of the fibres in the fibre module
(package private) void	loadModuleAll(FibreModule theFibreModule) Load all of the fibres in the fibre module continuing in the event of lost fibres
private void	lowerGripper() Lower the gripper to the height of the fibre button
(package private) void	moveFibre(Fibre theFibre, TargetFibre theTarget, FibreModule theFibreModule) Move a fibre from its current position to the target fibre's position
(package private) void	moveProbe(long positionInMicrons) Move the single axis probe
(package private) void	moveTheta(long positionInArcminutes) Move the theta axis
private void	moveToFibre(Fibre theFibre) Move the robot in X, Y and T, to a fibre
private void	moveToFibre(Fibre theFibre, java.awt.Point theOffsetFromFibre) Move the robot to a fibre, but offset the position by an X-Y offset
private void	moveXY(long x, long y) Move the robot to the specified x-y coordinates
(package private) void	moveXY(long x, long y, FibreModule theFibreModule) Move the robot to the requested X-Y position, moving theta to the angle of the nearest fibre
private void	moveXYT(long x, long y, long theta) Move the robot to the specified x-y-t coordinates
(package private) void	moveZ(long position) Move the z axis
private void	offset(MotionControllerAxis theAxis, int offset) Offset (position relative) an axis by a given amount
(package private) void	offsetFibre(Fibre theFibre, int xOffset, int yOffset, FibreModule theFibreModule) Offset a fibre
private void	offsetXY(long xoffset, long yoffset) Offset the XY axes in encoder units
(package private) void	offsetXYMicrons(long xoffset, long yoffset) Offset the XY axes in microns
(package private) void	openGripper() Open the gripper
(package private) void	park() Park the robot
(package private) void	parkFibre(Fibre theFibre, FibreModule theFibreModule) Park a fibre in the park ring
private void	pickUp() Lower the gripper to the fibre button, close the gripper, and lift the gripper
private void	putDown() Lower the gripper to the fibre button, open the gripper, and lift the gripper
private void	putDownFibre(Fibre theFibre, TargetFibre theTarget, FibreModule theFibreModule) Put a fibre down on the field plate at the target position, and load its new position
(package private) void	recoverFibre(Fibre theFibre, FibreModule theFibreModule) Recover a lost fibre by searching first in the expected position, and then in the fibre's previous known position
(package private) void	setAcceleration(MotionControllerAxis theAxis, int Acceleration) Set the axis acceleration
(package private) void	setBackIlluminationOff() Set the fibre back illumination off
(package private) void	setBackIlluminationOn() Set the fibre back illumination on
(package private) void	setDeceleration(MotionControllerAxis theAxis, int Deceleration) Set the axis deceleration
private void	setErrorLimit(long errorLimit) Set the error limit for all axes
(package private) void	setFibrePositioningIterations(int numberOfFibrePlacementIterations) Set the number of fibre placement iterations
(package private) void	setFibrePositioningTolerance(int fibrePositioningToleranceInMicrons) Set the fibre positioning tolerance in microns
(package private) void	setInspectionLightsOff() Set the inspection lights off
(package private) void	setInspectionLightsOn() Set the inspection lights on
(package private) void	setInstrumentPowerOff() Set the instrument power off
(package private) void	setInstrumentPowerOn() Set the instrument power on
(package private) void	setLimitSwitchOverrideOff() Override the limit switches
(package private) void	setLimitSwitchOverrideOn() Enable the limit switches
(package private) void	setMotorPowerOff() Set the motor power off
(package private) void	setMotorPowerOn() Set the motor power on
private void	setPID(MotionControllerAxis theAxis, double ProportionalConstant, double Integrator, double DerivativeConstant) Set the axis PID filter constants
private void	setPositionLimits(MotionControllerAxis theAxis, long ReversePositionLimit, long ForwardPositionLimit) Set the axis position limits
(package private) void	setSmoothing(MotionControllerAxis theAxis, double Smoothing) Set the axis smoothing
(package private) void	setSpeed(MotionControllerAxis theAxis, int Speed) Set the axis speed
(package private) void	sleep() Sleep the robot
(package private) void	stop() Stop motion on all axes
(package private) void	viewFibre(Fibre theFibre) Move the gripper camera over a fibre in order to view it
(package private) void	viewObject(Fibre theFibre) View an object at the position of a fibre or fiducial object
(package private) void	viewSky(long x, long y) Move the robot such that its sky viewing probe is at the required position
private void	wait(MotionControllerAxis theAxis) Wait for axis motion to complete
private void	waitP() Wait for Probe motion to complete
private void	waitT() Wait for Theta motion to complete
private void	waitXYT() Wait for XYT motion to complete
private void	waitZ() Wait for Z motion to complete
(package private) void	wake() Wake the robot

Methods inherited from class java.lang.Object

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

Field Detail

SIMULATION

private final boolean SIMULATION

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Constant Field Values

ENCODER_SIMULATION

private final boolean ENCODER_SIMULATION

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Constant Field Values

AXIS_X

static final MotionControllerAxis AXIS_X

AXIS_Y

static final MotionControllerAxis AXIS_Y

AXIS_Z

static final MotionControllerAxis AXIS_Z

AXIS_T

static final MotionControllerAxis AXIS_T

AXIS_P

static final MotionControllerAxis AXIS_P

AXIS_S

static final MotionControllerAxis AXIS_S

INPUT_PORT_INSTRUMENT_POWER_STATUS

private final int INPUT_PORT_INSTRUMENT_POWER_STATUS

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Constant Field Values

INPUT_PORT_AIR_PRESSURE_STATUS

private final int INPUT_PORT_AIR_PRESSURE_STATUS

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Constant Field Values

INPUT_PORT_MOTOR_RELAY_STATUS

private final int INPUT_PORT_MOTOR_RELAY_STATUS

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Constant Field Values

INPUT_PORT_FIBRE_MODULE_SWITCH_A

private final int INPUT_PORT_FIBRE_MODULE_SWITCH_A

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Constant Field Values

INPUT_PORT_FIBRE_MODULE_SWITCH_B

private final int INPUT_PORT_FIBRE_MODULE_SWITCH_B

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INPUT_PORT_SERVO_AMPLIFIER_STATUS

private final int INPUT_PORT_SERVO_AMPLIFIER_STATUS

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INPUT_PORT_SCIENCE_FIBRE_BACK_ILLUM_STATUS

private final int INPUT_PORT_SCIENCE_FIBRE_BACK_ILLUM_STATUS

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INPUT_PORT_GUIDE_FIBRE_BACK_ILLUM_STATUS

private final int INPUT_PORT_GUIDE_FIBRE_BACK_ILLUM_STATUS

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Constant Field Values

OUTPUT_PORT_INSTRUMENT_POWER

private final int OUTPUT_PORT_INSTRUMENT_POWER

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Constant Field Values

OUTPUT_PORT_MOTOR_POWER

private final int OUTPUT_PORT_MOTOR_POWER

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Constant Field Values

OUTPUT_PORT_GRIPPER_CONTROL

private final int OUTPUT_PORT_GRIPPER_CONTROL

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Constant Field Values

OUTPUT_PORT_INSPECTION_LIGHTS

private final int OUTPUT_PORT_INSPECTION_LIGHTS

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Constant Field Values

OUTPUT_PORT_LIMIT_SWITCH_OVERRIDE

private final int OUTPUT_PORT_LIMIT_SWITCH_OVERRIDE

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Constant Field Values

OUTPUT_PORT_GUIDE_FIBRE_BACK_ILLUMINATION

private final int OUTPUT_PORT_GUIDE_FIBRE_BACK_ILLUMINATION

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Constant Field Values

AXIS_ERROR_LIMIT

private final int AXIS_ERROR_LIMIT

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Constant Field Values

AXIS_ERROR_LIMIT_DISABLE

private final int AXIS_ERROR_LIMIT_DISABLE

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AXIS_MAX_ALLOWED_ERROR

private final int AXIS_MAX_ALLOWED_ERROR

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P_ROBOT_SEPARATION

private final int P_ROBOT_SEPARATION

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Constant Field Values

XY_NON_ORTHOGONALITY

private final double XY_NON_ORTHOGONALITY

XY Axes non-orthogonality in radians

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Constant Field Values

theRobotXYAxisStraightness

private RobotXYAxisStraightness theRobotXYAxisStraightness

GRIPPER_DELAY

private final int GRIPPER_DELAY

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FIBRE_MAX_DRAG_DISTANCE

private final int FIBRE_MAX_DRAG_DISTANCE

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FIBRE_MAX_OFFSET

private final int FIBRE_MAX_OFFSET

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FIBRE_MAX_POS_ERROR

private final int FIBRE_MAX_POS_ERROR

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FIBRE_PLACEMENT_ITERATIONS

private final int FIBRE_PLACEMENT_ITERATIONS

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_instance

private static Robot _instance

Error

private RobotError Error

theRobotTemperature

private RobotTemperature theRobotTemperature

theMotionController

private MotionController theMotionController

theRobotConfiguration

RobotConfiguration theRobotConfiguration

theAxisXConfiguration

private RobotAxisConfigurationX theAxisXConfiguration

theAxisYConfiguration

private RobotAxisConfigurationY theAxisYConfiguration

theAxisZConfiguration

private RobotAxisConfigurationZ theAxisZConfiguration

theAxisTConfiguration

private RobotAxisConfigurationT theAxisTConfiguration

theAxisPConfiguration

private RobotAxisConfigurationP theAxisPConfiguration

theSkyViewingProbe

private SkyViewingProbe theSkyViewingProbe

fibrePlacementIterations

private int fibrePlacementIterations

fibrePositioningTolerance

private int fibrePositioningTolerance

Constructor Detail

Robot

private Robot()

Robot private constructor

Method Detail

instance

public static Robot instance()

The instance class method

Returns:

The single instance of the class

initialise

void initialise()

Initialise the robot

initialiseXYAxis

void initialiseXYAxis()

Initialise the X-Y axes of the robot

initialiseZAxis

void initialiseZAxis()

Initialise the Z axis

initialiseTAxis

void initialiseTAxis()

Initialise the Theta axis

initialisePAxis

void initialisePAxis()

Initialise the Probe axis

loadModule

void loadModule(FibreModule theFibreModule)
          throws FibreNotFound

Load all of the fibres in the fibre module

Parameters:

theFibreModule - The fibre module

Throws:

FibreNotFound

loadModuleAll

void loadModuleAll(FibreModule theFibreModule)

Load all of the fibres in the fibre module continuing in the event of lost fibres

Parameters:

theFibreModule - The fibre module

loadFibre

void loadFibre(Fibre theFibre,
               FibreModule theFibreModule)
         throws FibreNotFound

Update the true position of the fibre based on the centroid from the gripper camera system

Parameters:

theFibre - The fibre to be loaded

theFibreModule - The fibre module

Throws:

FibreNotFound

viewFibre

void viewFibre(Fibre theFibre)

Move the gripper camera over a fibre in order to view it

Parameters:

theFibre - The fibre

moveFibre

void moveFibre(Fibre theFibre,
               TargetFibre theTarget,
               FibreModule theFibreModule)

Move a fibre from its current position to the target fibre's position

Parameters:

theFibre - The fibre to be moved

theTarget - The target fibre

theFibreModule - The fibre module

offsetFibre

void offsetFibre(Fibre theFibre,
                 int xOffset,
                 int yOffset,
                 FibreModule theFibreModule)

Offset a fibre

Parameters:

theFibre - The fibre

xOffset - The offset in x

yOffset - The offset in y

theFibreModule - the fibre module

parkFibre

void parkFibre(Fibre theFibre,
               FibreModule theFibreModule)

Park a fibre in the park ring

Parameters:

theFibre - The fibre

theFibreModule - The fibre module

recoverFibre

void recoverFibre(Fibre theFibre,
                  FibreModule theFibreModule)

Recover a lost fibre by searching first in the expected position, and then in the fibre's previous known position

Parameters:

theFibre - The fibre

theFibreModule - The fibre module

putDownFibre

private void putDownFibre(Fibre theFibre,
                          TargetFibre theTarget,
                          FibreModule theFibreModule)

Put a fibre down on the field plate at the target position, and load its new position

Parameters:

theFibre - The fibre

theTarget - The target

theFibreModule - The fibre module

viewObject

void viewObject(Fibre theFibre)

View an object at the position of a fibre or fiducial object

Parameters:

theFibre - The fibre associated with the object

viewSky

void viewSky(long x,
             long y)

Move the robot such that its sky viewing probe is at the required position

Parameters:

x - The x sky position in robot coordinates

y - The y sky position in robot coordinates

wake

void wake()

Wake the robot

sleep

void sleep()

Sleep the robot

park

void park()

Park the robot

extract

void extract()

Extract the robot from its limit switches

offsetXYMicrons

void offsetXYMicrons(long xoffset,
                     long yoffset)

Offset the XY axes in microns

Parameters:

xoffset - The offset in x in microns

yoffset - The offset in y in microns

moveXY

void moveXY(long x,
            long y,
            FibreModule theFibreModule)

Move the robot to the requested X-Y position, moving theta to the angle of the nearest fibre

Parameters:

x - Demanded x position

y - Demanded y position

theFibreModule - The fibre module

moveTheta

void moveTheta(long positionInArcminutes)

Move the theta axis

Parameters:

positionInArcminutes - The position in arcminutes

moveZ

void moveZ(long position)

Move the z axis

Parameters:

position - The position in encoder counts

moveProbe

void moveProbe(long positionInMicrons)

Move the single axis probe

Parameters:

positionInMicrons - The demand position in microns

openGripper

void openGripper()

Open the gripper

closeGripper

void closeGripper()

Close the gripper

getTemperature

double getTemperature()

Get the robot temperature

Returns:

The robot's temperature in degrees Celsius

getXYLinearEncoderPosition

java.awt.Point getXYLinearEncoderPosition()

Get the x-y position of the robot from its linear encoders

Returns:

The x-y position of the robot

getXYCorrectedPositionInMicrons

java.awt.Point getXYCorrectedPositionInMicrons()

Get the robot's true position in microns, corrected for temperature expansion and non-orthogonality

Returns:

The robot's true position in microns

getSkyViewingProbePositionInMicrons

java.awt.Point getSkyViewingProbePositionInMicrons()

Get the robot's sky viewing probe position in microns, corrected for temperature expansion and non-orthogonality

Returns:

The robot's sky viewing probe position in microns

getXEncoderPosition

long getXEncoderPosition()

Get the y encoder position

Returns:

the y encoder position in encoder counts

getYEncoderPosition

long getYEncoderPosition()

Get the x encoder position

Returns:

the x encoder position in encoder counts

getZEncoderPosition

long getZEncoderPosition()

Get the x encoder position

Returns:

the x encoder position in encoder counts

getTEncoderPosition

long getTEncoderPosition()

Get the theta encoder position

Returns:

the theta encoder position in encoder counts

getTPositionInArcmins

long getTPositionInArcmins()

Get the theta angle

Returns:

the theta angle in arcminutes

getTPositionInArcmins

long getTPositionInArcmins(long tEncoderPosition)

Get the theta angle

Parameters:

tEncoderPosition - The theta encoder position

Returns:

the theta angle in arcminutes

getPEncoderPosition

long getPEncoderPosition()

Get the probe encoder position

Returns:

the probe encoder position in encoder counts

getPPositionInMicrons

long getPPositionInMicrons()

Get the probe position in microns

Returns:

The probe position in microns

getSpeed

long getSpeed(MotionControllerAxis theAxis)

Get the axis speed

Parameters:

theAxis - The axis

Returns:

the axis speed

getAcceleration

long getAcceleration(MotionControllerAxis theAxis)

Get the axis acceleration

Parameters:

theAxis - The axis

Returns:

The axis acceleration

getFibrePositioningTolerance

int getFibrePositioningTolerance()

Get the fibre positioning tolerance

Returns:

the fibre positioning tolerance

getFibrePositioningIterations

int getFibrePositioningIterations()

Get the number of fibre positioning iterations

Returns:

The number of fibre positioning iterations

getConfiguration

RobotConfiguration getConfiguration()

Get the robot's configuration

Returns:

The robot's configuration

setInstrumentPowerOn

void setInstrumentPowerOn()

Set the instrument power on

setInstrumentPowerOff

void setInstrumentPowerOff()

Set the instrument power off

setMotorPowerOn

void setMotorPowerOn()

Set the motor power on

setMotorPowerOff

void setMotorPowerOff()

Set the motor power off

setInspectionLightsOn

void setInspectionLightsOn()

Set the inspection lights on

setInspectionLightsOff

void setInspectionLightsOff()

Set the inspection lights off

setLimitSwitchOverrideOn

void setLimitSwitchOverrideOn()

Enable the limit switches

setLimitSwitchOverrideOff

void setLimitSwitchOverrideOff()

Override the limit switches

setBackIlluminationOn

void setBackIlluminationOn()

Set the fibre back illumination on

setBackIlluminationOff

void setBackIlluminationOff()

Set the fibre back illumination off

setAcceleration

void setAcceleration(MotionControllerAxis theAxis,
                     int Acceleration)

Set the axis acceleration

Parameters:

theAxis - The axis

Acceleration - The acceleration

setDeceleration

void setDeceleration(MotionControllerAxis theAxis,
                     int Deceleration)

Set the axis deceleration

Parameters:

theAxis - The axis

Deceleration - The deceleration

setSmoothing

void setSmoothing(MotionControllerAxis theAxis,
                  double Smoothing)

Set the axis smoothing

Parameters:

theAxis - The axis

Smoothing - The smoothing

setSpeed

void setSpeed(MotionControllerAxis theAxis,
              int Speed)

Set the axis speed

Parameters:

theAxis - The axis

Speed - The speed

stop

void stop()

Stop motion on all axes

isInstrumentPowerOn

boolean isInstrumentPowerOn()

Is the insturment power on

Returns:

Boolean to indicate whether the instrument power is on

isAirPressureOn

boolean isAirPressureOn()

Is the air pressure power on

Returns:

Boolean to indicate whether the air pressure is on

isMotorPowerOn

boolean isMotorPowerOn()

Is the motor power on

Returns:

Boolean to indicate whether the motor power is on

isLargeFibreModuleSwitchOn

boolean isLargeFibreModuleSwitchOn()

Is the large fibre module switch on

Returns:

Boolean to indicate whether the large fibre module switch is on

isSmallFibreModuleSwitchOn

boolean isSmallFibreModuleSwitchOn()

Is the small fibre module switch on

Returns:

Boolean to indicate whether the small fibre module switch is on

isServoAmplifierOn

boolean isServoAmplifierOn()

Is the servo amplifier on

Returns:

Boolean to indicate whether the servo amplifier is on

isScienceFibreBackIlluminationOn

boolean isScienceFibreBackIlluminationOn()

Is the science fibre back illumination on

Returns:

Boolean to indicate whether the science fibre back illumination is on

isGuideFibreBackIlluminationOn

boolean isGuideFibreBackIlluminationOn()

Is the guide fibre back illumination on

Returns:

Boolean to indicate whether the guide fibre back illumination is on

isInspectionLightOn

boolean isInspectionLightOn()

Is the inspection light on

Returns:

Boolean to indicate whether the inspection light is on

isGripperClosed

boolean isGripperClosed()

Is the gripper closed

Returns:

Boolean to indicate whether the gripper is closed

isGripperLowered

boolean isGripperLowered()

Is the gripper lowered to the field plate

Returns:

Boolean to indicate whether the gripper is lowered to the field plate

isGripperLowered

boolean isGripperLowered(long zPosition)

Is the gripper lowered to the field plate

Parameters:

zPosition - The Z position

Returns:

Boolean to indicate whether the gripper is lowered to the field plate

isInReverseLimit

boolean isInReverseLimit(MotionControllerAxis theAxis)

Is the axis in its reverse limit

Parameters:

theAxis - The axis

Returns:

Boolean to indicate whether the axis is in its reverse limit

isInForwardLimit

boolean isInForwardLimit(MotionControllerAxis theAxis)

Is the axis in its forward limit

Parameters:

theAxis - The axis

Returns:

Boolean to indicate whether the axis is in its forward limit

setPositionLimits

private void setPositionLimits(MotionControllerAxis theAxis,
                               long ReversePositionLimit,
                               long ForwardPositionLimit)

Set the axis position limits

Parameters:

theAxis - The axis

ReversePositionLimit - The reverse position limit

ForwardPositionLimit - The forward position limit

setFibrePositioningIterations

void setFibrePositioningIterations(int numberOfFibrePlacementIterations)

Set the number of fibre placement iterations

Parameters:

numberOfFibrePlacementIterations - The number of fibre placement iterations

setFibrePositioningTolerance

void setFibrePositioningTolerance(int fibrePositioningToleranceInMicrons)

Set the fibre positioning tolerance in microns

Parameters:

fibrePositioningToleranceInMicrons - The fibre positioning tolerance in microns

dragFibre

private void dragFibre(Fibre theFibre,
                       int xOffset,
                       int yOffset)

Drag the fibre on the field plate by an offset in x and y

Parameters:

theFibre - The fibre to be dragged

xOffset - The distance in x that the fibre is to be dragged

yOffset - The distance in y that the fibre is to be dragged

getFibrePosition

private java.awt.Point getFibrePosition(Fibre theFibre)

Get the fibre's position in the true robot coordinates

Parameters:

theFibre - The fibre

Returns:

The positon of the fibre

getXYCorrectedPositionInMicrons

private java.awt.Point getXYCorrectedPositionInMicrons(java.awt.Point theXYEncoderPosition)

Get the true xy position in microns, corrected for thermal expansion, axis straightness, and non-orthogonality

Parameters:

theXYEncoderPosition - The encoder position of the xy axes

Returns:

The true position of the xy axes in microns

getXYTemperatureCorrectedPosition

private java.awt.Point getXYTemperatureCorrectedPosition(java.awt.Point thePosition,
                                                         double theTemperature)

Get the position of the XY axes compensated for temperature

Parameters:

thePosition - The robot's encoer position

theTemperature - The temperature

Returns:

The temperature corrected position of the robot

getXYOthogonalityCorrectedPosition

private java.awt.Point getXYOthogonalityCorrectedPosition(java.awt.Point thePosition,
                                                          double theNonOrthogonalityAngle)

Get the othogonality corrected position of the XY axes

Parameters:

thePosition - The position to be corrected

theNonOrthogonalityAngle - The non othogonality angle in radians

Returns:

The othogonality corrected position

getClosestThetaDemandEncoderPosition

private long getClosestThetaDemandEncoderPosition(long demandThetaInArcMins)

Get the closest theta demand position to an angle

Parameters:

demandThetaInArcMins - The demanded angle in armins

Returns:

The closest theta encoder position to the given angle

getClosestThetaAngle

private long getClosestThetaAngle(long deltaThetaInArcMins)

Get the closer theta angle to a given rotation angle

Parameters:

deltaThetaInArcMins - The rotation angle in arcmins

Returns:

The closest theta angle to the rotation angle in armins

getXYDistance

private java.awt.Point getXYDistance(java.awt.Point point1,
                                     java.awt.Point point2)

Get the distance in x and y between two points

Parameters:

point1 - The first point

point2 - The second point

Returns:

The x and y distance between the two points

defineEncoderPosition

private void defineEncoderPosition(MotionControllerAxis theAxis,
                                   int encoderPosition)

Define the encoder position

Parameters:

theAxis - The axis

encoderPosition - The encoder position to be defined

defineAuxiliaryEncoderPosition

private void defineAuxiliaryEncoderPosition(MotionControllerAxis theAxis,
                                            int encoderPosition)

Define the auxiliary encoder position

Parameters:

theAxis - The axis

encoderPosition - The auxiliary encoder position to be defined

offset

private void offset(MotionControllerAxis theAxis,
                    int offset)

Offset (position relative) an axis by a given amount

Parameters:

theAxis - The axis

offset - The offset

jog

private void jog(MotionControllerAxis theAxis,
                 long jogSpeed)

Jog the axis

Parameters:

theAxis - The axis

jogSpeed - The joggin speed

homeXY

private void homeXY()

Find the home position of the XY axes

homeZ

private void homeZ()

Find the home position of the Z axis

homeT

private void homeT()

Find the home position of the Theta axis

homeP

private void homeP()

Find the home position of the off-axis probe axis

waitXYT

private void waitXYT()

Wait for XYT motion to complete

waitZ

private void waitZ()

Wait for Z motion to complete

waitT

private void waitT()

Wait for Theta motion to complete

waitP

private void waitP()

Wait for Probe motion to complete

moveXY

private void moveXY(long x,
                    long y)

Move the robot to the specified x-y coordinates

Parameters:

x - Demanded x position

y - Demanded y position

moveXYT

private void moveXYT(long x,
                     long y,
                     long theta)

Move the robot to the specified x-y-t coordinates

Parameters:

x - Demanded x position

y - Demanded y position

theta - Demanded theta position

offsetXY

private void offsetXY(long xoffset,
                      long yoffset)

Offset the XY axes in encoder units

Parameters:

xoffset - The offset in x in encoder units

yoffset - The offset in y in encoder units

setPID

private void setPID(MotionControllerAxis theAxis,
                    double ProportionalConstant,
                    double Integrator,
                    double DerivativeConstant)

Set the axis PID filter constants

Parameters:

theAxis - The axis

ProportionalConstant - The proportional constant

Integrator - The integrator

DerivativeConstant - The derivative constant

setErrorLimit

private void setErrorLimit(long errorLimit)

Set the error limit for all axes

Parameters:

errorLimit - The error limit in encoder counts

hasPositionError

private boolean hasPositionError(MotionControllerAxis theAxis)

Check whether an axis has a position error

Parameters:

theAxis - The axis

Returns:

Boolean to indicate whether the axis has a position error

wait

private void wait(MotionControllerAxis theAxis)

Wait for axis motion to complete

Parameters:

theAxis - The axis

moveToFibre

private void moveToFibre(Fibre theFibre)

Move the robot in X, Y and T, to a fibre

Parameters:

theFibre - The fibre to be moved to

moveToFibre

private void moveToFibre(Fibre theFibre,
                         java.awt.Point theOffsetFromFibre)

Move the robot to a fibre, but offset the position by an X-Y offset

Parameters:

theFibre - The fibre to be moved to

theOffsetFromFibre - The offset from the fibre position

lowerGripper

private void lowerGripper()

Lower the gripper to the height of the fibre button

liftGripper

private void liftGripper()

Lift the gripper above the fibre buttons

pickUp

private void pickUp()

Lower the gripper to the fibre button, close the gripper, and lift the gripper

putDown

private void putDown()

Lower the gripper to the fibre button, open the gripper, and lift the gripper