BTSFraming class, contains methods for control of BTS frames. all dimension Units are in millimeters More...
#include <Composite_Control_BTS.h>
Public Member Functions | |
| void | initialize (ControlSystem *system) |
| initialize the frame using the given config. More... | |
| void | Home () |
| Command targetMountFrame to go to TargetMountHome position use if axis' have been moved manually or without power to reset the BTSFrame. | |
| void | chartCenterFrame_Go_ChartCenterHomeFrame (Vector3D homeSpace) |
| Command the chartCenterFrame to go somewhere relative to the chartCenterHomeFrame More... | |
| void | chartCenterFrame_Go_CameraCenterFrame (Vector3D cameraSpace) |
| Command the chartCenterFrame to move to a location relative to the CameraFrame More... | |
| Vector3D | doCalibrationAndValidation () |
| Do calibration and validation routine. prompts the user for micrometer reading. reports validation meaurements returns calibration offset for use later. More... | |
| Vector3D | homeFrame_To_cameraCenterFrame (Vector3D homeSpace) |
| Transform vector in the homeFrame to cameraCenterFrame. More... | |
| Vector3D | cameraCenterFrame_To_homeFrame (Vector3D cameraSpace) |
| Transform vector from cameraCenterFrame to homeFrame More... | |
| zaberController * | zaberCont () |
| ZaberDeviceInfo * | zaberDevice1 () |
| ZaberDeviceInfo * | zaberDevice2 () |
| ZaberAxisInfo * | zaberDevice1Axis () |
| ZaberAxisInfo * | zaberDevice2Axis () |
Public Attributes | |
| std::string | zaberPort |
| Serial Port for zaber (ex "COM4") Set Before initialization. More... | |
| Vector3D | ChartCenterHome_CameraCenterFrame = { -148.88, 99.3, 1120 } |
| Chart center home position in the cameracenter frame. Units: millimeters More... | |
| Vector3D | calibrationOffset |
| Calibration offset (can be obtained by calling doCalibrationAndValidation) More... | |
| Vector3D | chartCenterFrame_CameraCenterFrame |
| Current relative location of the chartCenter to the CameraCenter More... | |
| float | stageVelocity = 20 |
| Velocity to command the stages to use. More... | |
| float | stageAcceleration = 20 |
| Acceleration to command the stages to use. More... | |
 Public Attributes inherited from ControlAPI::CompositeFrameBase | |
| ControlSystem * | system = nullptr |
Additional Inherited Members | |
| Protected Attributes inherited from ControlAPI::CompositeFrameBase | |
| std::shared_ptr< CompositeFrameBaseInternals > | internals |
Detailed Description
BTSFraming class, contains methods for control of BTS frames. all dimension Units are in millimeters
https://drive.google.com/file/d/1pRtOPzCtmoEOHzolEsyHNhHvKwgjnRsm/view?usp=drive_link
Member Function Documentation
◆ cameraCenterFrame_To_homeFrame()
Transform vector from cameraCenterFrame to homeFrame
- Parameters
-
cameraSpace
- Returns
◆ chartCenterFrame_Go_CameraCenterFrame()
| void ControlAPI::BTSFraming::chartCenterFrame_Go_CameraCenterFrame | ( | Vector3D | cameraSpace | ) |
Command the chartCenterFrame to move to a location relative to the CameraFrame
◆ chartCenterFrame_Go_ChartCenterHomeFrame()
| void ControlAPI::BTSFraming::chartCenterFrame_Go_ChartCenterHomeFrame | ( | Vector3D | homeSpace | ) |
Command the chartCenterFrame to go somewhere relative to the chartCenterHomeFrame
- Parameters
-
homeSpace
◆ doCalibrationAndValidation()
| Vector3D ControlAPI::BTSFraming::doCalibrationAndValidation | ( | ) |
Do calibration and validation routine. prompts the user for micrometer reading. reports validation meaurements returns calibration offset for use later.
- Returns
◆ homeFrame_To_cameraCenterFrame()
Transform vector in the homeFrame to cameraCenterFrame.
- Parameters
-
homeSpace
- Returns
◆ initialize()
| void ControlAPI::BTSFraming::initialize | ( | ControlSystem * | system | ) |
initialize the frame using the given config.
- Parameters
-
config
Member Data Documentation
◆ calibrationOffset
| Vector3D ControlAPI::BTSFraming::calibrationOffset |
Calibration offset (can be obtained by calling doCalibrationAndValidation)
- Parameters
-
calibration
◆ chartCenterFrame_CameraCenterFrame
| Vector3D ControlAPI::BTSFraming::chartCenterFrame_CameraCenterFrame |
Current relative location of the chartCenter to the CameraCenter
◆ ChartCenterHome_CameraCenterFrame
| Vector3D ControlAPI::BTSFraming::ChartCenterHome_CameraCenterFrame = { -148.88, 99.3, 1120 } |
Chart center home position in the cameracenter frame. Units: millimeters
◆ stageAcceleration
| float ControlAPI::BTSFraming::stageAcceleration = 20 |
Acceleration to command the stages to use.
◆ stageVelocity
| float ControlAPI::BTSFraming::stageVelocity = 20 |
Velocity to command the stages to use.
◆ zaberPort
| std::string ControlAPI::BTSFraming::zaberPort |
Serial Port for zaber (ex "COM4") Set Before initialization.
The documentation for this class was generated from the following file:
- Composite_Control/Composite_Control_BTS.h