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1 package JSci.instruments.pi;
2
3 import JSci.instruments.*;
4
5 import java.io.*;
6
7
10 public class PiezoServo extends DummyPositionControl {
11
12 private RandomAccessFile rf;
13 private String  name;
14 private int ttyNumber;
15 private String type;
16 private boolean inverted;
17
18
19 public static final String E665="E-665";
20
21
22 public static final String E662="E-662";
23
24
28 public PiezoServo(int n,String type,boolean inverted) throws IOException {
29 this.type=type;
30 this.inverted=inverted;
31 rf=new RandomAccessFile("/dev/ttyS"+n,"rw");
32 ttyNumber=n;
33 if (type.equals(E665)) write("SVO A1");
34 write("*IDN?");
35 name=read();
36 if (!name.substring(0,2).equals("PI"))
37 throw new IOException("Serial device is unknown: "+name);
38 }
39
40 private void write(String s) throws IOException {
41 rf.writeBytes(s);
42 rf.writeByte(10);
43 try {Thread.sleep(100);} catch (InterruptedException e) {}
44 }
45
46 private String read() throws IOException {
47 String s="";
48 byte b;
49 while ((b=rf.readByte())!=10) s+=(char)b;
50 return s;
51 }
52
53 public String toString() {
54 return getClass().getName()+
55 "[Port=/dev/ttyS"+ttyNumber+
56 ",Controller="+name+"]";
57 }
58
59 protected final void doSetPosition(double z) {
60 if (inverted) z=100.0-z;
61 try {
62 if (type.equals(E665)) write("MOV A"+z);
63 if (type.equals(E662)) write("POS "+z);
64 }
65 catch (IOException e) {
66 System.err.println("Error writing to the "+name+": "+e);
67 }
68 }
69
70 public void dispose() {
71 try {rf.close();} catch (IOException e) {}
72 }
73
74 public double getActualPosition() {
75 String v="";
76 try {
77 if (type.equals(E665)) write("POS?A");
78 if (type.equals(E662)) write("POS?");
79 v=read();
80 } catch (IOException e) {}
81 double z = Double.valueOf(v).doubleValue();
82 if (inverted) z=100.0-z;
83 return z;
84 }
85
86 public void sleep() {
87 try {Thread.sleep(300);} catch (InterruptedException e) {}
88 }
89
90 public static void main(String [] args) {
91 PiezoServo p = null;
92 try {
93 p = new PiezoServo(Integer.parseInt(args[0]),E665,false);
94 System.out.println(p);
95
96 System.out.println("Position: "+p.getActualPosition());
97 p.setPosition(3.0);
98 p.sleep();
99 System.out.println("Position: "+p.getActualPosition());
100 p.setPosition(6.0);
101 p.sleep();
102 System.out.println("Position: "+p.getActualPosition());
103 p.setPosition(9.0);
104 p.sleep();
105 System.out.println("Position: "+p.getActualPosition());
106 }
107 catch (IOException e) {
108 System.out.println(p.name+" error: "+e);
109 }
110 finally {
111 if (p!=null) p.dispose();
112 }
113 }
114
115 }
116 |
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