MockPlant#

class lsst.ts.m2com.MockPlant(static_transfer_matrix: ndarray[tuple[Any, ...], dtype[float64]], inclinometer_angle: float)#

Bases: object

Mock plant model to simulate the actuator’s force feedback.

Parameters#

static_transfer_matrixnumpy.ndarray: Static transfer matrix used to simulate the delta force from the change of steps. This is a 78 x 78 matrix. The unit of row is the Newton and the unit of column is the actuator’s step.
inclinometer_anglefloat: Inclinometer angle in degree.

Attributes#

actuator_stepsnumpy.ndarray [int]: Current positions of the actuator in steps referenced to the home position.

Attributes Summary

STEP_TO_MM

Methods Summary

`get_actuator_forces`()	Get the actuator forces.
`get_actuator_positions`()	Get the actuator positions in millimeter.
`move_actuator_steps`(actuator_steps)	Move the actuator steps.
`reset_actuator_steps`()	Reset the actuator steps.
`update_actuator_force_weight`(inclinometer_angle)	Update the component of actuator's force according to the mirror's weight.

Attributes Documentation

STEP_TO_MM = 1.9967536601e-05#

Methods Documentation

get_actuator_forces() → ndarray[tuple[Any, ...], dtype[float64]]#

Get the actuator forces.

Returns#

numpy.ndarray: Actuator forces in Newton.

get_actuator_positions() → ndarray[tuple[Any, ...], dtype[float64]]#

Get the actuator positions in millimeter.

Returns#

numpy.ndarray: Actuator positions in millimeter.

move_actuator_steps(actuator_steps: ndarray[tuple[Any, ...], dtype[int64]]) → None#

Move the actuator steps.

Notes#

This function is translated from vendor’s original LabVIEW code: “Steps to Force.vi” in ts_mtm2_cell. The static transfer matrix is used to simlulate the force change of actuator’s movement.

Parameters#

actuator_stepsnumpy.ndarray [int]: 78 actuator steps.

Raises#

ValueError: When the length of actuators does not match.
ValueError: When the data type is not integer.

reset_actuator_steps() → None#: Reset the actuator steps.

update_actuator_force_weight(inclinometer_angle: float) → None#

Update the component of actuator’s force according to the mirror’s weight.

Parameters#

inclinometer_anglefloat: Inclinometer angle in degree.