Description#

The command rotateFullTurn can be used for testing purpose to rotate carousel full turns.

Synopsis#

rotateFullTurn <nbTurn>

where <nbTurn> is a double which can't be > 3.

The command rotateFullTurn has to be sent to component carousel.

Danger

rotateFullTurn rotates carousel at the speed recorded in the carousel controller. It is recommended to turn at slow speed for clearance tests.

Examples :#

rotateFullTurn 1

to do a complete full turn.

rotateFullTurn -1

to do a complete full turn in the opposite direction.

rotateFullTurn 0.5

to do a demi turn.

Conditions to execute rotateFullTurn#

The conditions to execute rotateFullTurn are the same as for a rotation to an absolute position : conditions to execute rotateToAbsolutePosition.

Configurable parameters for rotateFullTurn#

The configurables parameters for command rotateFullTurn are

configurables parameters for Carousel rotation

How#

What does the command rotateFullTurn is a rotation with a relative position. It computes the relative target position as :

relativeTargetPosition = fullTurn * nbTurn

an then sends command enableAndWriteRelativePosition :

carouselController.enableAndWriteRelativePosition(relativeTargetPosition)

Which does :

            carouselController.enable();
            FcsUtils.sleep(250, name);
            carouselController.writeTargetPosition(relativeTargetPosition);
            carouselController.writeControlWord(0x7F);

Troubleshooting and recovery#