QPTelescopeController Class Reference

The concrete telescope controller. More...

Inheritance diagram for QPTelescopeController:

Public Member Functions
void	up (float v, bool arm_timeout=false) OVERRIDE
	Command the controller to slew directly upwards, at a fraction v of the maximum/reference elevation speed. More...
void	east (float v, bool arm_timeout=false) OVERRIDE
	Command the controller to slew directly eastwards, at a fraction v of the maximum/reference azimuthal speed. More...
void	stop (void) OVERRIDE
	Stop the telescope's motion. More...
double	curr_az_speed (void) const OVERRIDE
	The current azimuthal speed, as a fractional speed, in the range [-1,1], with positive indicating that the telescope is moving east (that is, clockwise around the pole, in the direction of increasing phi, but decreasing azimuth).
double	curr_alt_speed (void) const OVERRIDE
	The current latitudinal speed, as a fractional speed, in the range [-1,1], with positive indicating that the telescope is moving upwards.
double	phi (void) const
	The current azimuthal angular position of the telescope. More...
double	theta (void) const
	The current angular altitude of the telescope. More...
void	reset_at_home (void)
	Note that the telescope is now physically at the home position. More...
int	curr_az_speed_int (void) const
	The current commanded azimuthal speed, as an integer. More...
int	curr_alt_speed_int (void) const
	The current commanded altitude speed, as an integer. More...
float	eastmost_phi (void) const OVERRIDE
	Longitude of the eastmost endstop. More...
float	westmost_phi (void) const OVERRIDE
	Longitude of the westmost endstop. More...
float	lowest_altitude (void) const OVERRIDE
	Altitude of the telescope's greatest depression. More...
float	endstop_clearance (void) const OVERRIDE
	How close may the telescope come to its endstop. More...
Public Member Functions inherited from TelescopeController
Quaternion	T (void) const
	Return the current pointing of the state, as a vector in AzAlt coordinates.
Position	position (Position::System)
	Return the current position of the state, as a Position object.

Detailed Description

The concrete telescope controller.

Member Function Documentation

int QPTelescopeController::curr_alt_speed_int ( void  ) const

inline

The current commanded altitude speed, as an integer.

This is the speed sent to the motor, in the range [-255, +255].

int QPTelescopeController::curr_az_speed_int ( void  ) const

inline

The current commanded azimuthal speed, as an integer.

This is the speed sent to the motor, in the range [-255, +255].

void QPTelescopeController::east ( float  v, bool  arm_timeout = false  )

virtual

Command the controller to slew directly eastwards, at a fraction v of the maximum/reference azimuthal speed.

Parameters

v	the velocity relative to the maximum possible; set negative to go westwards
arm_timeout	if true (default false) the endstop-timeout function will be called if the motion reaches that endstop

Implements TelescopeController.

float QPTelescopeController::eastmost_phi ( void  ) const

virtual

Longitude of the eastmost endstop.

The 'eastmost endstop' is the one we hit after travelling east.

Returns

radians east of south, in [-pi,pi]

Implements TelescopeController.

float QPTelescopeController::endstop_clearance ( void  ) const

virtual

How close may the telescope come to its endstop.

The distance here is a distance in the coordinate perpendicular to the endstop; thus a difference in longitude for the azimuthal endstops, and in latitude for the depression endstop.

Returns

radians

Implements TelescopeController.

float QPTelescopeController::lowest_altitude ( void  ) const

virtual

Altitude of the telescope's greatest depression.

Returns

radians north of horizontal

Implements TelescopeController.

double QPTelescopeController::phi ( void  ) const

inlinevirtual

The current azimuthal angular position of the telescope.

This is the phi of spherical polars, as radians east of south.

Returns

angular position, radians

Implements TelescopeController.

void QPTelescopeController::reset_at_home ( void  )

virtual

Note that the telescope is now physically at the home position.

The notion of angular position is reset as such.

Implements TelescopeController.

void QPTelescopeController::stop ( void  )

virtual

Stop the telescope's motion.

Implements TelescopeController.

double QPTelescopeController::theta ( void  ) const

inlinevirtual

The current angular altitude of the telescope.

This is the theta of (one convention for) spherical polars, as radians zenithwards of the equator.

Returns

angular position, radians

Implements TelescopeController.

void QPTelescopeController::up ( float  v, bool  arm_timeout = false  )

virtual

Command the controller to slew directly upwards, at a fraction v of the maximum/reference elevation speed.

Parameters

v	the velocity relative to the maximum possible; set negative to go down
arm_timeout	if true (default false) the endstop-timeout function will be called if the motion reaches that endstop

Implements TelescopeController.

float QPTelescopeController::westmost_phi ( void  ) const

virtual

Longitude of the westmost endstop.

The 'westmost endstop' is the one we hit after travelling west.

Returns

radians east of south, in [-pi,pi]

Implements TelescopeController.

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The documentation for this class was generated from the following file:

• qp.ino