MockControlOpenLoop¶

class lsst.ts.m2com.MockControlOpenLoop¶

Bases: object

Mock open-loop control.

Attributes:

inclinometer_anglefloat: Inclinometer angle in degree.
open_loop_max_limit_is_enabledbool: The maximum limit of open-loop control is enabled or not.
is_runningbool: The open-loop control is running or not.
actuator_stepsnumpy.ndarray [int]: Current positions of the actuator in steps referenced to the home position.

Attributes Summary

`LIMIT_FORCE_AXIAL`
`LIMIT_FORCE_TANGENT`
`MAX_LIMIT_FORCE_AXIAL`
`MAX_LIMIT_FORCE_TANGENT`
`STEP_TO_MM`

Methods Summary

`calculate_forces_to_positions`(forces)	Calculate the forces to positions.
`calculate_forces_to_steps`(forces)	Calculate the forces to steps.
`calculate_steps_to_forces`(steps)	Calculate the steps to forces.
`correct_inclinometer_angle`(angle[, offset])	Correct the inclinometer's value and make sure to limit the resulting value to the indicated range: (-270, 90).
`get_actuator_positions`()	Get the actuator positions in millimeter.
`get_forces_mirror_weight`(angle)	Get the forces that bear the weight of mirror.
`is_actuator_force_out_limit`()	The actuator force is out of limit or not.
`move_actuator_steps`(actuators, steps)	Move the actuator steps.
`pause`()	Pause the movement.
`read_file_static_transfer_matrix`(filepath[, ...])	Read the file of static transfer matrix (the size is 78 x 78).
`resume`()	Resume the movement.
`run_steps`(steps)	Run the steps.
`start`(actuators, displacement, unit)	Start the movement.
`stop`()	Stop the movement.
`update_actuator_steps`(actuator_steps)	Update the current actuator steps referenced to the home position.

Attributes Documentation

LIMIT_FORCE_AXIAL = 489.3¶

LIMIT_FORCE_TANGENT = 6005.1¶

MAX_LIMIT_FORCE_AXIAL = 622.75¶

MAX_LIMIT_FORCE_TANGENT = 6227.51¶

STEP_TO_MM = 1.9967536601e-05¶

Methods Documentation

calculate_forces_to_positions(forces)¶

Calculate the forces to positions.

This is just an extension of self.calculate_forces_to_steps().

Parameters:

forcesnumpy.ndarray: Actuator forces in Newton.

Returns:

numpy.ndarray: Actuator positions in millimeter.

calculate_forces_to_steps(forces)¶

Calculate the forces to steps.

This is the reverse of self.calculate_steps_to_forces().

Parameters:

forcesnumpy.ndarray: Actuator forces in Newton.

Returns:

numpy.ndarray [int]: Actuator steps.

calculate_steps_to_forces(steps)¶

Calculate the steps to forces.

This function is translated from vendor’s original LabVIEW code. The static transfer matrix is used to simlulate the force change of actuator’s movement.

Parameters:

stepsnumpy.ndarray [int]: Actuator steps.

Returns:

numpy.ndarray: Actuator forces in Newton.

correct_inclinometer_angle(angle, offset=0.94)¶

Correct the inclinometer’s value and make sure to limit the resulting value to the indicated range: (-270, 90).

This function is translated from vendor’s original LabVIEW code. The hard-coded range is related to the configuration of inclinometer in the mirror assembly.

Parameters:

anglefloat: Inclinometer angle in degree.
offsetfloat, optional: Offset in degree. The default value is hard-coded in the LabVIEW’s project. (the default is 0.94)

Returns:

angle_correctfloat: Corrected inclinometer angle in degree.

get_actuator_positions()¶

Get the actuator positions in millimeter.

Returns:

numpy.ndarray: Actuator positions in millimeter.

get_forces_mirror_weight(angle)¶

Get the forces that bear the weight of mirror.

This function is translated from vendor’s original LabVIEW code. This is just an estimation of forces.

Parameters:

anglefloat: Inclinometer angle in degree.

Returns:

forcesnumpy.ndarray: Forces to support the mirror in Newton.

is_actuator_force_out_limit()¶

The actuator force is out of limit or not. The result will depend on self.open_loop_max_limit_is_enabled.

Returns:

bool: True if the actuator force is out of limit. Otherwise, False.

move_actuator_steps(actuators, steps)¶

Move the actuator steps.

Parameters:

actuatorslist [int] or numpy.ndarray [int]: Actuator IDs to do the movement.
stepsint, list [int] or numpy.ndarray [int]: Actuator steps to move.

Raises:

ValueError: When the data type is not integer.
RuntimeError: When the actuator force is out of limit.

pause()¶: Pause the movement.

read_file_static_transfer_matrix(filepath, skiprows=7)¶

Read the file of static transfer matrix (the size is 78 x 78).

This file comes from the vender’s original project used in the simulation purpose.

Parameters:

filepathstr or pathlib.PosixPath: File path of the static transfer matrix.
skiprowsint, optional: Number of lines to skip (int) at the start of the file. (the default is 7)

resume()¶

Resume the movement.

Raises:

RuntimeError: When the movement is done.

run_steps(steps)¶

Run the steps.

If the requested displacement is done or the actuator force is out of limit, the value of self.is_running will change to False.

Parameters:

stepsint: Absolute steps (>=0) to move. The internal calculation will consider the direction of target displacement by itself.

Raises:

RuntimeError: When the actuators are not running.
ValueError: When the steps is less than 0.

start(actuators, displacement, unit)¶

Start the movement.

Parameters:

actuatorslist [int]: Actuator IDs to do the movement.
displacementint or float: Displacement to move.
unitenum ActuatorDisplacementUnit: Unit of the displacement.

Raises:

RuntimeError: When the actuators are moving.
ValueError: When no actuators are selected.

stop()¶: Stop the movement.

update_actuator_steps(actuator_steps)¶

Update the current actuator steps referenced to the home position.

Parameters:

actuator_stepsnumpy.ndarray [int]: New current positions of the actuator in steps.

Raises:

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

Navigation

MockControlOpenLoop¶