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ikayaki.squid.Handler Class Reference

Inheritance diagram for ikayaki.squid.Handler:

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Collaboration diagram for ikayaki.squid.Handler:

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List of all members.

Public Member Functions

boolean isMoving ()
boolean isRotating ()
int getPosition ()
int getRotation ()
int getEstimatedPosition ()
int getEstimatedRotation ()
boolean isOK ()
void moveToSampleLoad ()
void moveToDegausserZ ()
void moveToDegausserY ()
void moveToMeasurement ()
void moveToBackground ()
void moveToLeftLimit ()
void moveToRightLimit ()
void rotateTo (final int rotationAngle)
void join () throws InterruptedException
void serialIOEvent (SerialIOEvent event)

Protected Member Functions

 Handler () throws SerialIOException
void setUp () throws SerialIOException
void updateSettings ()
void setPosition (int position)
void setRotation (int rotationSteps)
void seekHome () throws SerialIOException
void moveToPosition (int position) throws SerialIOException
void moveSteps (int steps, int velocity) throws SerialIOException
void slewToLimit (boolean toRight) throws SerialIOException
void setOnline () throws SerialIOException
void selectMovement () throws SerialIOException
void selectRotation () throws SerialIOException
void setAcceleration (int acceleration) throws SerialIOException
void setDeceleration (int deceleration) throws SerialIOException
void setVelocity (int velocity) throws SerialIOException
void stopExecution () throws SerialIOException
void performSlew () throws SerialIOException
void setMotorPositive () throws SerialIOException
void setMotorNegative () throws SerialIOException
void go () throws SerialIOException
void waitForMessage () throws SerialIOException
String verify (char registry) throws SerialIOException
char takeMessage () throws SerialIOException

Protected Attributes

SerialIO serialIO

Private Member Functions

void fireMovementStopped ()
void fireRotationStopped ()

Private Attributes

SynchronousQueue< String > answerQueue = new SynchronousQueue<String>()
LastExecutor workQueue = new LastExecutor(0, false)
final int POLL_TIMEOUT = 60
int ACCELERATION
int DECELERATION
int VELOCITY
int MEASUREMENT_VELOCITY
int SAMPLE_LOAD_POSITION
int TRANSVERSE_YAF_POSITION
int AXIAL_AF_POSITION
int BACKGROUND_POSITION
int MEASUREMENT_POSITION
int ROTATION_VELOCITY
int ROTATION_ACCELERATION
int ROTATION_DECELERATION
int HANDLER_ROTATION
int currentMotor = -1
int currentPosition = 0
int currentRotation = 0
int currentVelocity = 0
int estimatedPositionStart = 0
long estimatedPositionStartTime = 0
int estimatedPositionEnd = 0
int estimatedRotationStart = 0
long estimatedRotationStartTime = 0
int estimatedRotationEnd = 0
boolean waitingForMessage = false

Detailed Description

Offers an interface for controlling the sample handler.

Author:
Aki Korpua, Esko Luontola

Definition at line 36 of file Handler.java.


Constructor & Destructor Documentation

ikayaki.squid.Handler.Handler  )  throws SerialIOException [protected]
 

Creates a new handler interface. Opens connection to handler COM port and reads settings from the Settings class.

Definition at line 171 of file Handler.java.

References ikayaki.squid.SerialIO.addSerialIOListener(), ikayaki.squid.SerialIO.openPort(), ikayaki.squid.Handler.serialIO, and ikayaki.squid.Handler.updateSettings().

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Member Function Documentation

void ikayaki.squid.Handler.fireMovementStopped  )  [private]
 

Stops calculating estimated current position

Definition at line 286 of file Handler.java.

References ikayaki.squid.Handler.currentPosition, ikayaki.squid.Handler.estimatedPositionEnd, ikayaki.squid.Handler.estimatedPositionStart, ikayaki.squid.Handler.estimatedPositionStartTime, and ikayaki.squid.Handler.getEstimatedPosition().

Referenced by ikayaki.squid.Handler.seekHome().

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void ikayaki.squid.Handler.fireRotationStopped  )  [private]
 

Stops calculating estimated current position

Definition at line 306 of file Handler.java.

References ikayaki.squid.Handler.currentRotation, ikayaki.squid.Handler.estimatedRotationEnd, ikayaki.squid.Handler.estimatedRotationStart, and ikayaki.squid.Handler.estimatedRotationStartTime.

Referenced by ikayaki.squid.Handler.seekHome().

int ikayaki.squid.Handler.getEstimatedPosition  ) 
 

Returns an estimation that where handler is right now. Used for drawing graphics.

Returns:
the estimated position we are at, or current position if it is known.

Definition at line 320 of file Handler.java.

References ikayaki.squid.Handler.currentVelocity, ikayaki.squid.Handler.estimatedPositionEnd, ikayaki.squid.Handler.estimatedPositionStart, ikayaki.squid.Handler.estimatedPositionStartTime, and ikayaki.squid.Handler.isMoving().

Referenced by ikayaki.squid.Handler.fireMovementStopped(), and ikayaki.squid.Handler.setPosition().

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int ikayaki.squid.Handler.getEstimatedRotation  ) 
 

Used for graphics of squid, estimates from speed and starting time where handler is.

Returns:
estimated rotation of where we are at in angles.

Definition at line 358 of file Handler.java.

References ikayaki.squid.Handler.currentVelocity, ikayaki.squid.Handler.estimatedRotationEnd, ikayaki.squid.Handler.estimatedRotationStart, ikayaki.squid.Handler.estimatedRotationStartTime, ikayaki.squid.Handler.getRotation(), ikayaki.squid.Handler.HANDLER_ROTATION, and ikayaki.squid.Handler.isRotating().

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int ikayaki.squid.Handler.getPosition  ) 
 

Returns the position where the handler is currently, or where it is heading right now. Integer.MAX_VALUE means the right limit and Integer.MIN_VALUE means the left limit.

Returns:
position relative to home.

Definition at line 228 of file Handler.java.

References ikayaki.squid.Handler.currentPosition.

int ikayaki.squid.Handler.getRotation  ) 
 

Returns the handler's current rotation, or where it is rotating to right now.

Returns:
rotation in range of 0 to 359 degrees

Definition at line 237 of file Handler.java.

References ikayaki.squid.Handler.currentRotation, and ikayaki.squid.Handler.HANDLER_ROTATION.

Referenced by ikayaki.squid.Handler.getEstimatedRotation().

void ikayaki.squid.Handler.go  )  throws SerialIOException [protected]
 

Send handler on move (G).

Definition at line 802 of file Handler.java.

boolean ikayaki.squid.Handler.isMoving  ) 
 

Tells whether handler is moving right now.

Definition at line 211 of file Handler.java.

References ikayaki.squid.Handler.estimatedPositionEnd, and ikayaki.squid.Handler.estimatedPositionStart.

Referenced by ikayaki.squid.Handler.getEstimatedPosition().

boolean ikayaki.squid.Handler.isOK  ) 
 

Checks if the serial communication channel is open.

Returns:
true if ok.

Definition at line 387 of file Handler.java.

References ikayaki.squid.Handler.serialIO.

boolean ikayaki.squid.Handler.isRotating  ) 
 

Tells whether handler is rotating right now.

Definition at line 218 of file Handler.java.

References ikayaki.squid.Handler.estimatedRotationEnd, and ikayaki.squid.Handler.estimatedRotationStart.

Referenced by ikayaki.squid.Handler.getEstimatedRotation().

void ikayaki.squid.Handler.join  )  throws InterruptedException
 

Waits that all commands sent to the Handler have been executed.

Exceptions:
InterruptedException if another thread has interrupted the current thread. The interrupted status of the current thread is cleared when this exception is thrown.

Definition at line 681 of file Handler.java.

References ikayaki.util.LastExecutor.join().

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void ikayaki.squid.Handler.moveSteps int  steps,
int  velocity
throws SerialIOException [protected]
 

Commands the holder to move to the specified number of steps. Only sends the move commands and will not wait for the handler to arrive.

Parameters:
steps the number of steps to move to.
Exceptions:
IllegalArgumentException if steps is not in range -16777215 to 16777215.

Definition at line 600 of file Handler.java.

void ikayaki.squid.Handler.moveToBackground  ) 
 

Commands the holder to move to background position. Only starts the movement and will not wait for it to finish.

Definition at line 484 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToDegausserY  ) 
 

Commands the holder to move to degauss Y (and X) position. Only starts the movement and will not wait for it to finish.

Definition at line 453 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToDegausserZ  ) 
 

Commands the holder to move to degauss Z position. Only starts the movement and will not wait for it to finish.

Definition at line 437 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToLeftLimit  ) 
 

Commands the holder to go to left limit. Only starts the movement and will not wait for it to finish.

Definition at line 499 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToMeasurement  ) 
 

Commands the holder to move to measure position. Only starts the movement and will not wait for it to finish.

Definition at line 469 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToPosition int  position  )  throws SerialIOException [protected]
 

Moves the handler to an absolute position. Waits for the handler to arrive there. Changes the speed of the handler when necessary.

Parameters:
position the position to move to, relative to home. If equal to Integer.MIN_VALUE, will go to left limit. If equal to Integer.MAX_VALUE, will go to right limit.

Definition at line 533 of file Handler.java.

Referenced by ikayaki.squid.Handler.moveToSampleLoad().

void ikayaki.squid.Handler.moveToRightLimit  ) 
 

Commands the holder to go to right limit. Only starts the movement and will not wait for it to finish.

Definition at line 514 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.moveToSampleLoad  ) 
 

Commands the holder to move to sample load position. Only starts the movement and will not wait for it to finish.

Definition at line 422 of file Handler.java.

References ikayaki.util.LastExecutor.execute(), ikayaki.squid.Handler.moveToPosition(), ikayaki.squid.Handler.SAMPLE_LOAD_POSITION, and ikayaki.squid.Handler.workQueue.

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void ikayaki.squid.Handler.performSlew  )  throws SerialIOException [protected]
 

Slew the motor up to maximum speed and continue until reaching a hard limit switch or receiving a quit (Q) command. (S). Automatically runs selectMovement() before slewing.

Definition at line 778 of file Handler.java.

void ikayaki.squid.Handler.rotateTo final int  rotationAngle  ) 
 

Rotates the handler to the specified angle. If angle is over than 360 or lower than 0, it is divided by 360 and value is remainder.

Parameters:
rotationAngle the angle in degrees to rotate the handler to.

Definition at line 640 of file Handler.java.

References ikayaki.util.LastExecutor.execute().

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void ikayaki.squid.Handler.seekHome  )  throws SerialIOException [protected]
 

Commands the holder to seek home position and rotation. Waits for the home to be found and resets the home position and rotation.

Definition at line 395 of file Handler.java.

References ikayaki.squid.Handler.currentPosition, ikayaki.squid.Handler.fireMovementStopped(), ikayaki.squid.Handler.fireRotationStopped(), ikayaki.squid.Handler.selectMovement(), ikayaki.squid.Handler.selectRotation(), ikayaki.squid.Handler.serialIO, ikayaki.squid.Handler.setMotorNegative(), ikayaki.squid.Handler.setMotorPositive(), ikayaki.squid.Handler.setPosition(), ikayaki.squid.Handler.setRotation(), ikayaki.squid.Handler.slewToLimit(), ikayaki.squid.Handler.waitForMessage(), and ikayaki.squid.SerialIO.writeMessage().

Referenced by ikayaki.squid.Handler.setUp().

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void ikayaki.squid.Handler.selectMovement  )  throws SerialIOException [protected]
 

Selects the movement motor to recieve all commands. Sets the default velocity, acceleration and deceleration for the motor. If the movement motor is already selected, does nothing.

Definition at line 696 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.selectRotation  )  throws SerialIOException [protected]
 

Selects the rotation motor to recieve all commands. Sets the default velocity, acceleration and deceleration for the motor. If the rotation motor is already selected, does nothing.

Definition at line 711 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.serialIOEvent SerialIOEvent  event  ) 
 

Propagates serial port message event.

Parameters:
event the event that happened.

Implements ikayaki.squid.SerialIOListener.

Definition at line 878 of file Handler.java.

References ikayaki.squid.SerialIOEvent.getCleanMessage().

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void ikayaki.squid.Handler.setAcceleration int  acceleration  )  throws SerialIOException [protected]
 

Sends message to handler to set acceleration (Aa).

Parameters:
acceleration Acceleration is a number from 0 to 127
Exceptions:
IllegalArgumentException if the parameter is not in range.

Definition at line 728 of file Handler.java.

void ikayaki.squid.Handler.setDeceleration int  deceleration  )  throws SerialIOException [protected]
 

Sends message to handler to set deceleration (Dd).

Parameters:
deceleration Deceleration is a number from 0 to 127
Exceptions:
IllegalArgumentException if the parameter is not in range.

Definition at line 741 of file Handler.java.

void ikayaki.squid.Handler.setMotorNegative  )  throws SerialIOException [protected]
 

Set the motor direction of movement to negative. (-).

Definition at line 794 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.setMotorPositive  )  throws SerialIOException [protected]
 

Set the motor direction of movement to positive. (+).

Definition at line 786 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.setOnline  )  throws SerialIOException [protected]
 

Sends message to handler go online ().

Definition at line 688 of file Handler.java.

Referenced by ikayaki.squid.Handler.setUp().

void ikayaki.squid.Handler.setPosition int  position  )  [protected]
 

Sets the position that we start heading to. Integer.MAX_VALUE means the right limit and Integer.MIN_VALUE means the left limit.

Definition at line 246 of file Handler.java.

References ikayaki.squid.Handler.currentPosition, ikayaki.squid.Handler.estimatedPositionEnd, ikayaki.squid.Handler.estimatedPositionStart, ikayaki.squid.Handler.estimatedPositionStartTime, and ikayaki.squid.Handler.getEstimatedPosition().

Referenced by ikayaki.squid.Handler.seekHome().

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void ikayaki.squid.Handler.setRotation int  rotationSteps  )  [protected]
 

Sets the rotation that we start heading to. The value is in rotation steps and relative to the home position (no limit to how high the value can be).

Definition at line 266 of file Handler.java.

References ikayaki.squid.Handler.currentRotation, ikayaki.squid.Handler.estimatedRotationEnd, ikayaki.squid.Handler.estimatedRotationStart, ikayaki.squid.Handler.estimatedRotationStartTime, and ikayaki.squid.Handler.HANDLER_ROTATION.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.setUp  )  throws SerialIOException [protected]
 

Starts up the handler and seeks the home position. Will wait until the handler is ready for operation.

Definition at line 180 of file Handler.java.

References ikayaki.squid.Handler.seekHome(), and ikayaki.squid.Handler.setOnline().

Referenced by ikayaki.squid.Squid.Squid().

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void ikayaki.squid.Handler.setVelocity int  velocity  )  throws SerialIOException [protected]
 

Sends message to handler to set maximum velocity (Mv).

Parameters:
velocity Velocity range is 50 to 8,500
Exceptions:
IllegalArgumentException if the parameter is not in range.

Definition at line 754 of file Handler.java.

void ikayaki.squid.Handler.slewToLimit boolean  toRight  )  throws SerialIOException [protected]
 

Definition at line 620 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().

void ikayaki.squid.Handler.stopExecution  )  throws SerialIOException [protected]
 

This command stops execution of the internal program if it is used in the program. If the motor is indexing it will ramp down and then stop. Use this command to stop the motor after issuing a slew command. (Q).

Definition at line 770 of file Handler.java.

char ikayaki.squid.Handler.takeMessage  )  throws SerialIOException [protected]
 

take the device for any waiting messages such as errors or end of move. (

Returns:
0 Normal, no service required <br/>1 Command error, illegal command sent <br/>2 Range error, an out of range numeric parameter was sent <br/>3 Command invalid while moving (e.g. G, S, H) <br/>4 Command only valid in program (e.g. I, U, L) <br/>5 End of move notice, a previous G command is complete <br/>6 End of wait notice, a previousW command is complete <br/>7 Hard limit stop, the move was stopped by the hard limit <br/>8 End of program notice, internal program has completed <br/>G Motor is indexing and no other notice pending

Definition at line 864 of file Handler.java.

void ikayaki.squid.Handler.updateSettings  )  [protected]
 

Checks which settings have changed and updates the handler interface. This method will be called by the Squid class.

Definition at line 192 of file Handler.java.

References ikayaki.squid.Handler.ACCELERATION, ikayaki.squid.Handler.AXIAL_AF_POSITION, ikayaki.squid.Handler.BACKGROUND_POSITION, ikayaki.squid.Handler.DECELERATION, ikayaki.squid.Handler.HANDLER_ROTATION, ikayaki.squid.Handler.MEASUREMENT_POSITION, ikayaki.squid.Handler.MEASUREMENT_VELOCITY, ikayaki.squid.Handler.ROTATION_ACCELERATION, ikayaki.squid.Handler.ROTATION_DECELERATION, ikayaki.squid.Handler.ROTATION_VELOCITY, ikayaki.squid.Handler.SAMPLE_LOAD_POSITION, ikayaki.squid.Handler.TRANSVERSE_YAF_POSITION, and ikayaki.squid.Handler.VELOCITY.

Referenced by ikayaki.squid.Handler.Handler().

String ikayaki.squid.Handler.verify char  registry  )  throws SerialIOException [protected]
 

Gives result for wanted registery. (V v).

Parameters:
registry A Acceleration <br/>B Base speed <br/>D Deceleration <br/>E Internal program <br/>G Steps remaining in current move. Zero if not indexing. <br/>H Hold time <br/>I Input pins <br/>J Slow jog speed <br/>M Maximum speed <br/>N Number of steps to index <br/>O Output pins <br/>P Position. If motor is indexing this returns the position at the end of the index. <br/>R Internal program pointer used by trace (T) or continue (X) commands. Also updated by enter (E) command. <br/>W Ticks remaining on wait counter <br/>X Crystal frequency
Returns:
registery as a string

Definition at line 840 of file Handler.java.

void ikayaki.squid.Handler.waitForMessage  )  throws SerialIOException [protected]
 

Wait for handler to be idle. Blocking (F). Without the this command the SMC25 (Handler system) will continue to accept commands while the motor is moving. This may be desirable, as when changing speed during a move or working with the inputs or outputs. Or it may be undesirable, such as when you wish to make a series of indexes. Without the this command any subsequent Go commands received while the motor is indexing would set the "Not allowed while moving" message. Caution: If this command is used while the motor is executing a Slew command the only way to stop is with a reset or a hard limit switch input.

Definition at line 814 of file Handler.java.

Referenced by ikayaki.squid.Handler.seekHome().


Member Data Documentation

int ikayaki.squid.Handler.ACCELERATION [private]
 

Value between 0 and 127 default 5. Settings in the 20-50 range are usually employed.

Definition at line 62 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

SynchronousQueue<String> ikayaki.squid.Handler.answerQueue = new SynchronousQueue<String>() [private]
 

Synchronous queue for waiting result message from handler

Definition at line 41 of file Handler.java.

int ikayaki.squid.Handler.AXIAL_AF_POSITION [private]
 

Axial AF demag position in steps, must be divisible by 10. Relative to Home.

Definition at line 96 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.BACKGROUND_POSITION [private]
 

Position in steps, must be divisible by 10. Relative to Home.

Definition at line 101 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.currentMotor = -1 [private]
 

Currently selected motor to send the commands to.

Definition at line 128 of file Handler.java.

int ikayaki.squid.Handler.currentPosition = 0 [private]
 

The position where the handler is currently, or where it is heading right now. Integer.MIN_VALUE means the left limit, Integer.MAX_VALUE is the right limit.

Definition at line 134 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireMovementStopped(), ikayaki.squid.Handler.getPosition(), ikayaki.squid.Handler.seekHome(), and ikayaki.squid.Handler.setPosition().

int ikayaki.squid.Handler.currentRotation = 0 [private]
 

Angles are between 0 (0) and 2000 (360).

Definition at line 139 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireRotationStopped(), ikayaki.squid.Handler.getRotation(), and ikayaki.squid.Handler.setRotation().

int ikayaki.squid.Handler.currentVelocity = 0 [private]
 

Last set velocity. Negative for moving to left and positive for moving to right.

Definition at line 144 of file Handler.java.

Referenced by ikayaki.squid.Handler.getEstimatedPosition(), and ikayaki.squid.Handler.getEstimatedRotation().

int ikayaki.squid.Handler.DECELERATION [private]
 

Value between 0 and 127 default 10. Settings in the 20-50 range are usually employed.

Definition at line 67 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.estimatedPositionEnd = 0 [private]
 

Definition at line 156 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireMovementStopped(), ikayaki.squid.Handler.getEstimatedPosition(), ikayaki.squid.Handler.isMoving(), and ikayaki.squid.Handler.setPosition().

int ikayaki.squid.Handler.estimatedPositionStart = 0 [private]
 

Starting point at start of movement

Definition at line 149 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireMovementStopped(), ikayaki.squid.Handler.getEstimatedPosition(), ikayaki.squid.Handler.isMoving(), and ikayaki.squid.Handler.setPosition().

long ikayaki.squid.Handler.estimatedPositionStartTime = 0 [private]
 

Time in milliseconds when we started movement

Definition at line 154 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireMovementStopped(), ikayaki.squid.Handler.getEstimatedPosition(), and ikayaki.squid.Handler.setPosition().

int ikayaki.squid.Handler.estimatedRotationEnd = 0 [private]
 

Definition at line 160 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireRotationStopped(), ikayaki.squid.Handler.getEstimatedRotation(), ikayaki.squid.Handler.isRotating(), and ikayaki.squid.Handler.setRotation().

int ikayaki.squid.Handler.estimatedRotationStart = 0 [private]
 

Definition at line 158 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireRotationStopped(), ikayaki.squid.Handler.getEstimatedRotation(), ikayaki.squid.Handler.isRotating(), and ikayaki.squid.Handler.setRotation().

long ikayaki.squid.Handler.estimatedRotationStartTime = 0 [private]
 

Definition at line 159 of file Handler.java.

Referenced by ikayaki.squid.Handler.fireRotationStopped(), ikayaki.squid.Handler.getEstimatedRotation(), and ikayaki.squid.Handler.setRotation().

int ikayaki.squid.Handler.HANDLER_ROTATION [private]
 

Definition at line 123 of file Handler.java.

Referenced by ikayaki.squid.Handler.getEstimatedRotation(), ikayaki.squid.Handler.getRotation(), ikayaki.squid.Handler.setRotation(), and ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.MEASUREMENT_POSITION [private]
 

Position in steps, must be divisible by 10. Relative to Home.

Definition at line 106 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.MEASUREMENT_VELOCITY [private]
 

Speed in measurement, should be small.

Definition at line 81 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

final int ikayaki.squid.Handler.POLL_TIMEOUT = 60 [private]
 

timeout how long we wait answer from Squid-system, debugging to prevent lock-ups if communication fails.

Definition at line 52 of file Handler.java.

int ikayaki.squid.Handler.ROTATION_ACCELERATION [private]
 

Value between 0 and 127.

Definition at line 116 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.ROTATION_DECELERATION [private]
 

Value between 0 and 127.

Definition at line 121 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.ROTATION_VELOCITY [private]
 

Value between 50 and 8500, but should be small

Definition at line 111 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.SAMPLE_LOAD_POSITION [private]
 

Value between 1 and 16,777,215. Relative to Home.

Definition at line 86 of file Handler.java.

Referenced by ikayaki.squid.Handler.moveToSampleLoad(), and ikayaki.squid.Handler.updateSettings().

SerialIO ikayaki.squid.Handler.serialIO [protected]
 

COM port for communication.

Definition at line 57 of file Handler.java.

Referenced by ikayaki.squid.Handler.Handler(), ikayaki.squid.SquidFront.initRawActions(), ikayaki.squid.Handler.isOK(), and ikayaki.squid.Handler.seekHome().

int ikayaki.squid.Handler.TRANSVERSE_YAF_POSITION [private]
 

AF demag position for transverse. Relative to Home.

Definition at line 91 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

int ikayaki.squid.Handler.VELOCITY [private]
 

Value between 50 and 12 000. The decimal number issued is 10 times the actual pulse rate to the motor. Since the motor requires 200 pulses (full step) or 400 pulses (half step) per revolution, a speed setting of M10000 sets the motor to revolve at 5 revolutions per second in full step or 2.5 revolutions in half step. This rate is one-half the sample rate rotation due to the pulley ratios. The sample handler is set up at the factory for half stepping.

Definition at line 76 of file Handler.java.

Referenced by ikayaki.squid.Handler.updateSettings().

boolean ikayaki.squid.Handler.waitingForMessage = false [private]
 

Only one at time can be waiting for answer, works like semaphore for commanding handler

Definition at line 165 of file Handler.java.

LastExecutor ikayaki.squid.Handler.workQueue = new LastExecutor(0, false) [private]
 

Executes the commands to the handler one at a time. All public interfaces should send their commands to this queue so that they would not conflict eachother.

Definition at line 47 of file Handler.java.

Referenced by ikayaki.squid.Handler.moveToSampleLoad().


The documentation for this class was generated from the following file:
Generated on Fri May 6 16:01:19 2005 for Squid by  doxygen 1.4.1