The MOTYZ_Framing object can be calibrated to the coordinates of a target chart by calling frame.calibrate() and following the prompts to enter in distance values from the chart center using the range finder. MOTYZ_Frame. state can be saved by saving/restoring the chartDisplacement_Ref, chartDisplacement, and liftingCol_refPos variables at any time if the frame is in the same position after calibration. More...
#include <MOTYZ_DistanceControl.h>
Public Member Functions | |
| void | initialize (ControlSystem *system) |
| Initialize the frame (always required first) More... | |
| void | calibrate () |
| prompt for distance measurement to calibrate the frame. More... | |
| void | home () |
| Home all Axis. | |
| void | go_Chart_YZ (Vector3D chartDisplacement) |
| Go to liftingCol_refPos position chartDistance millimeters away from the chart. More... | |
Public Attributes | |
| std::string | zaberPort |
| Serial Port for zaber (ex "COM4") More... | |
| std::string | liftingColumnPort |
| Serial Port for Lifting Column. (ex "COM5") More... | |
| Vector3D | chartDisplacement_Ref |
| homed chart displacement (set by calibration routine) | |
| float | liftingCol_refPos |
| lifting col referance position (set by calibration routine) More... | |
| Vector3D | currentChartDisplacement |
| current chart displacement - read only after calling go_Chart_YZ More... | |
| float | stageVelocity = 20.0f |
| stage velocity to use when moving More... | |
| float | stageAcceleration = 25.0f |
| stage acceleration to use when moving 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
The MOTYZ_Framing object can be calibrated to the coordinates of a target chart by calling frame.calibrate() and following the prompts to enter in distance values from the chart center using the range finder. MOTYZ_Frame. state can be saved by saving/restoring the chartDisplacement_Ref, chartDisplacement, and liftingCol_refPos variables at any time if the frame is in the same position after calibration.
Member Function Documentation
◆ calibrate()
| void ControlAPI::MOTYZ_Framing::calibrate | ( | ) |
prompt for distance measurement to calibrate the frame.
◆ go_Chart_YZ()
| void ControlAPI::MOTYZ_Framing::go_Chart_YZ | ( | Vector3D | chartDisplacement | ) |
Go to liftingCol_refPos position chartDistance millimeters away from the chart.
◆ initialize()
| void ControlAPI::MOTYZ_Framing::initialize | ( | ControlSystem * | system | ) |
Initialize the frame (always required first)
- Parameters
-
system
Member Data Documentation
◆ currentChartDisplacement
| Vector3D ControlAPI::MOTYZ_Framing::currentChartDisplacement |
current chart displacement - read only after calling go_Chart_YZ
◆ liftingCol_refPos
| float ControlAPI::MOTYZ_Framing::liftingCol_refPos |
lifting col referance position (set by calibration routine)
◆ liftingColumnPort
| std::string ControlAPI::MOTYZ_Framing::liftingColumnPort |
Serial Port for Lifting Column. (ex "COM5")
◆ stageAcceleration
| float ControlAPI::MOTYZ_Framing::stageAcceleration = 25.0f |
stage acceleration to use when moving
◆ stageVelocity
| float ControlAPI::MOTYZ_Framing::stageVelocity = 20.0f |
stage velocity to use when moving
◆ zaberPort
| std::string ControlAPI::MOTYZ_Framing::zaberPort |
Serial Port for zaber (ex "COM4")
The documentation for this class was generated from the following file:
- Composite_Control/MOTYZ_DistanceControl.h