Motorization

Description

Module: geocompy.geo.mot

Definitions for the GeoCOM Motorization subsystem.

Types

  • GeoComMOT

Definitions

class GeoComMOT(parent: GeoComType)[source]

Motorization subsystem of the GeoCOM protocol.

This subsystem provides access to motoriztaion parameters and control.

Parameters:
parent: GeoComType

The parent protocol instance of this subsystem.

get_lockon_status() → GeoComResponse[ATRLock][source]

RPC 6021, MOT_ReadLockStatus

Gets the current status of the ATR target lock.

Returns:

Params:

  • ATRLock: ATR lock status.

Error codes:

  • NOT_IMPL: Motorization not available.

Return type:

GeoComResponse

See also

aut.lock_in

set_velocity(hz: SupportsFloat, v: SupportsFloat) → GeoComResponse[None][source]

RPC 6004, MOT_SetVelocity

Starts the motors at a constant speed. The motor controller must be set accordingly in advance.

Parameters:
hz: SupportsFloat

Horizontal angle to turn in a second [-pi; +pi]rad.

v: SupportsFloat

Vertical angle to turn in a second [-pi; +pi]rad.

Returns:

Error codes:

  • IVPARAM: Velocities not within acceptable range.

  • MOT_NOT_CONFIG: Motor controller was not started, or is already busy with continuous task.

  • MOT_NOT_OCOST: Controller is not set to constant speed.

  • NOT_IMPL: Motorization is not available.

Return type:

GeoComResponse

Note

Instruments with piezo motors support velocities up to 180 deg/sec. Stations with traditional motor drives support velocoties up to 45 deg/sec.

See also

set_velocity, start_controller, aus.switch_user_lock

start_controller(mode: Controller | str = Controller.MANUAL) → GeoComResponse[None][source]

RPC 6001, MOT_StartController

Starts the motor controller in the specified mode.

Parameters:
mode: Controller | str = Controller.MANUAL

Controller mode, by default Controller.MANUAL

Returns:

Error codes:

  • IVPARAM: Control mode is not appropriate for velocity control.

  • NOT_IMPL: Motorization not available.

  • MOT_BUSY: Subsystem is busy, controller already started.

  • MOT_UNREADY: Subsystem is not initialized.

Return type:

GeoComResponse

See also

set_velocity, stop_controller

stop_controller(mode: Stop | str = Stop.NORMAL) → GeoComResponse[None][source]

RPC 6002, MOT_StopController

Stops the active motor controller mode.

Parameters:
mode: Stop | str = Stop.NORMAL

Controller mode, by default Stop.NORMAL

Returns:

Error codes:

  • MOT_NOT_BUSY: Controller is not active.

Return type:

GeoComResponse

See also

set_velocity, start_controller, aus.switch_user_lock