TelescopeController Class Reference

A class for controlling the telescope. More...

#include <qp.h>

Inheritance diagram for TelescopeController:

Public Member Functions
virtual void	up (float v, bool arm_timeout=false)=0
	Command the controller to slew directly upwards, at a fraction v of the maximum/reference elevation speed. More...
virtual void	east (float v, bool arm_timeout=false)=0
	Command the controller to slew directly eastwards, at a fraction v of the maximum/reference azimuthal speed. More...
virtual void	stop (void)=0
	Stop the telescope's motion. More...
virtual double	curr_az_speed (void) const =0
	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).
virtual double	curr_alt_speed (void) const =0
	The current latitudinal speed, as a fractional speed, in the range [-1,1], with positive indicating that the telescope is moving upwards.
virtual double	phi (void) const =0
	The current azimuthal angular position of the telescope. More...
virtual double	theta (void) const =0
	The current angular altitude of the telescope. More...
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.
virtual void	reset_at_home (void)=0
	Note that the telescope is now physically at the home position. More...
virtual float	eastmost_phi (void) const =0
	Longitude of the eastmost endstop. More...
virtual float	westmost_phi (void) const =0
	Longitude of the westmost endstop. More...
virtual float	lowest_altitude (void) const =0
	Altitude of the telescope's greatest depression. More...
virtual float	endstop_clearance (void) const =0
	How close may the telescope come to its endstop. More...

Detailed Description

A class for controlling the telescope.

This exists to export a few functions from the main qp.ino module.

This is a pure virtual class, so that it can be subclassed differently in actual and in test code.

Member Function Documentation

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

pure 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

Implemented in QPTelescopeController.

virtual float TelescopeController::eastmost_phi ( void  ) const

pure 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]

Implemented in QPTelescopeController.

virtual float TelescopeController::endstop_clearance ( void  ) const

pure 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

Implemented in QPTelescopeController.

virtual float TelescopeController::lowest_altitude ( void  ) const

pure virtual

Altitude of the telescope's greatest depression.

Returns

radians north of horizontal

Implemented in QPTelescopeController.

virtual double TelescopeController::phi ( void  ) const

pure virtual

The current azimuthal angular position of the telescope.

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

Returns

angular position, radians

Implemented in QPTelescopeController.

virtual void TelescopeController::reset_at_home ( void  )

pure virtual

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

The notion of angular position is reset as such.

Implemented in QPTelescopeController.

virtual void TelescopeController::stop ( void  )

pure virtual

Stop the telescope's motion.

Implemented in QPTelescopeController.

virtual double TelescopeController::theta ( void  ) const

pure virtual

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

Implemented in QPTelescopeController.

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

pure 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

Implemented in QPTelescopeController.

virtual float TelescopeController::westmost_phi ( void  ) const

pure 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]

Implemented in QPTelescopeController.

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

• qp.h