source: rtems/doc/tools/pdl2texi/Drive.d @ d4bc481

4.104.114.84.9
Last change on this file since d4bc481 was d4bc481, checked in by Joel Sherrill <joel.sherrill@…>, on Jun 16, 1997 at 9:30:07 PM

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1OBJECT:  Drive
2  DESCRIPTION:
3    This object provides an interface to the elevation/azimuth
4    drive system(ECA). 
5  THEORY OF OPERATION:
6    This object encapsulates the turret drive.  The object provides
7    an interface to control the turret drive.  A method is provided
8    to set the azimuth and elevation rate of the drive.  Methods are
9    provided to request the drive to run in stabilized or power mode
10    and set the drive speed to high or low.  A method is also provided
11    to allow for drift adjust. 
12
13    This object also tracks drive system on hours.  It gets the hours
14    from the EEPROM data, allows the hours to be set, updates the
15    hours via the activation and deactivation of the drive, and
16    provides access to the hours.
17
18      + This is the first bullet.
19      + This is the second bullet.
20      + This is the third bullet.
21      + This is the fourth bullet.
22      + This is the fifth bullet.
23
24    The object also provides methods to access azimuth and elevation
25    displacement, and methods to process changes in the hardware
26    discretes drive on, stabilized mode, thermal fault and fault.
27 
28    The object also provides methods to enable and disable
29    both the remote and turret power interlocks which determine if
30    the drive can be driven by the remote or turret handstation
31    respectively.   
32
33ATTRIBUTE DESCRIPTIONS:
34
35
36ATTRIBUTE:  Azimuth_displacement
37  DESCRIPTION:
38    This attribute represents the current azimuth displacement
39    of the turret.
40  TYPE: floating point
41  RANGE: 0-0
42  UNITS: degrees
43  REQUIREMENTS:
44    AFS 8.2.11 Receive Azimuth Displacement and Elevation Displacement
45    AIS 5.2.6 Azimuth Displacement analog
46
47
48ATTRIBUTE:  Azimuth_rate
49  DESCRIPTION:
50    Azimuth rate command for movement of the turret. 
51  TYPE: floating point
52  RANGE: X-Y
53  UNITS: degrees / second
54  DEFAULT: none
55  REQUIREMENTS:
56    AFS 8.2.3 Send Azimuth and Elevation Rate to ECA
57    AIS 5.3.4 Elevation Rate analog
58    AIS 5.3.5 Azimuth Rate analog
59
60
61ATTRIBUTE:  Drift_adjust
62  DESCRIPTION:
63    This attribute represents the current drift adjustment mode
64    of the ECA turret drive.
65  TYPE: enumerated
66  MEMBERS:
67    ADJUST_OFF - drift adjust mode is OFF
68    ADJUST_ON  - drift adjust mode is ON
69  REQUIREMENTS:
70    AFS 8.2.6 Capable of turret drift adjustment
71    AIS 5.3.1 Drift Adjust discrete
72 
73
74ATTRIBUTE:  Drive_on
75  DESCRIPTION:
76    Current status of the turret drive.  The turret drive may either be
77    switched on or off.
78  TYPE: boolean
79  MEMBERS:
80    FALSE - turret drive is off
81    TRUE  - turret drive is on
82  DEFAULT: FALSE
83  REQUIREMENTS:
84    AFS 8.2.9 Monitor Drive System On
85    AIS 5.2.1 Drive System On discrete
86
87
88ATTRIBUTE:  Drive_system_hours
89  DESCRIPTION: 
90    Total number of hours drive has been activated. 
91  TYPE: integer
92  RANGE: 0 - +INFINITY
93  UNITS: seconds
94  REQUIREMENTS:
95    AFS 4.11 Respond to CDT elapsed time indicator key
96
97
98ATTRIBUTE:  Elevation_displacement
99  DESCRIPTION:
100    This attribute represents the current elevation displacement
101    of the turret.
102  TYPE: floating point
103  RANGE: 0-0
104  UNITS: degrees
105  REQUIREMENTS:
106    AFS 8.2.11 Receive Azimuth Displacement and Elevation Displacement
107    AIS 5.2.7 Elevation Displacement analog
108
109
110ATTRIBUTE:  Elevation_rate
111  DESCRIPTION:
112    Elevation rate command for movement of the turret.
113  TYPE: floating point
114  RANGE: X - Y
115  UNITS: degrees / second
116  DEFAULT: none
117  REQUIREMENTS:
118    AFS 8.2.3 Send Azimuth and Elevation Rate to ECA
119    AIS 5.3.4 Elevation Rate analog
120    AIS 5.3.5 Azimuth Rate analog
121 
122
123ATTRIBUTE:  Fault
124  DESCRIPTION:
125    This attribute denotes whether a turret malfunction has occurred.
126  TYPE: boolean
127  MEMBERS:
128    TRUE  - a turret malfunction has occurred
129    FALSE - no turret malfunction has occurred
130  DEFAULT: FALSE
131  REQUIREMENTS:
132    AFS 8.2.7 Check for ECA failure indication
133    AIS 5.2.4 Turret Drive Malfunction discrete
134
135
136ATTRIBUTE:  Mode
137  DESCRIPTION:
138    Current requested drive mode.
139  TYPE: enumerated
140  MEMBERS:
141    POWER - operate in POWER mode
142    STAB  - operate in STABILIZED mode
143  DEFAULT: POWER
144  REQUIREMENTS:
145    bogus requirement
146
147
148ATTRIBUTE:  Remote_power_interlock_position
149  DESCRIPTION:
150    This is the status of the remote's power interlock.
151  TYPE: enumerated
152  MEMBERS:
153    OPEN   - relay is open
154    CLOSED - relay is closed
155  REQUIREMENTS: 
156    AFS 8.2.12 Control Power Interlock
157 
158
159ATTRIBUTE:  Speed
160  DESCRIPTION:
161    Current speed mode of the ECA turret drive.
162  TYPE: enumerated
163  MEMBERS:
164    LOW_SPEED  - turret drive does not allow the maximum rate
165    HIGH_SPEED - turret drive allows the maximum rate
166  DEFAULT:  HIGH
167  REQUIREMENTS:
168    AFS 8.2.5 Control Turret
169    AIS 5.3.3 Turret High Speed Mode discrete
170
171
172ATTRIBUTE:  Stabilized_mode
173  DESCRIPTION:
174    Current drive mode indicating whether the ECA electronics are
175    operating in Stabilized mode or Power mode.
176  TYPE: boolean
177  MEMBERS:
178    FALSE - not operating in STABILIZED mode
179    TRUE  - operating in STABILIZED mode
180  DEFAULT: FALSE
181  REQUIREMENTS:
182    AFS 8.2.8 Monitor Turret Stab Mode Indicate
183    AIS 5.2.3 Turret Stab Mode Indicate discrete
184
185
186ATTRIBUTE:  State
187  DESCRIPTION:
188    Current state of the turret drive.
189  TYPE: enumerated
190  MEMBERS:
191    ACTIVATED   - turret drive is ON and active
192    DEACTIVATED - turret drive is ON but deactivated
193  DEFAULT: DEACTIVATED
194  REQUIREMENTS:
195    AFS 8.2.4 Set Plam Grips Active
196    AIS 5.3.2 Palm Grips Active discrete
197
198
199ATTRIBUTE:  Thermal_fault
200  DESCRIPTION:
201    This attribute denotes whether a turret thermal fault has occurred.
202  TYPE: boolean
203  MEMBERS:
204    TRUE  - a turret thermal fault has occurred
205    FALSE - no turret thermal fault has occurred
206  DEFAULT: FALSE
207  REQUIREMENTS:
208    AFS 8.2.7 Check for ECA failure indication
209    AIS 5.2.2 Turret ECA Thermal Failure discrete
210
211
212ATTRIBUTE:  Turret_power_interlock_position
213  DESCRIPTION:
214    This is the status of the turret's power interlock.
215  TYPE: enumerated
216  MEMBERS:
217    OPEN   - relay is open
218    CLOSED - relay is closed
219  REQUIREMENTS: 
220    AFS 8.2.12 Control Power Interlock
221 
222
223ASSOCIATION DESCRIPTIONS: none
224
225ABSTRACT TYPE DESCRIPTIONS:
226
227ABSTRACT TYPE:  Drift_adjust_t
228  DESCRIPTION:
229    This abstract type represents the current drift adjustment mode
230    of the ECA turret drive.
231  VISIBILITY: public
232  DERIVATION:  enumerated
233  MEMBERS: 
234    ADJUST_OFF = 0 - drift adjust mode is OFF
235    ADJUST_ON  = 1 - drift adjust mode is ON
236  REQUIREMENTS:
237    AIS 5.3.1 Drift Adjust discrete
238
239ABSTRACT TYPE: Interlock_status
240  DESCRIPTION:
241    An interlock state being OPEN or CLOSED.
242  VISIBILITY: private
243  DERIVATION: enumerated
244  MEMBERS:
245    OPEN   - interlock relay is in the open state
246    CLOSED - interlock relay is in the closed state
247  REQUIREMENTS: 
248    AFS 8.2.12 Control Power Interlock
249
250ABSTRACT TYPE:  Mode
251  DESCRIPTION:
252    This type specifies the drive mode of the ECA turret drive.
253  VISIBILITY: public 
254  DERIVATION: enumerated
255  MEMBERS:
256    POWER - operate in POWER mode
257    STAB  - operate in STABILIZED mode
258
259ABSTRACT TYPE:  Speed
260  DESCRIPTION:
261    This type specifies the Speed mode of the ECA turret drive.
262  VISIBILITY: public
263  DERIVATION:  enumerated
264  MEMBERS: 
265    LOW_SPEED  = 0 - turret drive does not allow the maximum rate
266    HIGH_SPEED = 1 - turret drive allows the maximum rate
267  REQUIREMENTS:
268    AIS 5.3.3 Turret High Speed Mode discrete
269
270ABSTRACT TYPE:  State_t
271  DESCRIPTION:
272    This type specifies the state of the turret drive.
273  VISIBILITY: private
274  DERIVATION:  enumerated
275  MEMBERS: 
276    DEACTIVATED - turret drive is ON but deactivated
277    ACTIVATED   - turret drive is ON and active
278
279DATA ITEM DESCRIPTIONS:
280
281DATA ITEM: Azimuth_displacement_control
282  DESCRIPTION:
283    This data item contains the Azimuth_displacement analog control
284    information.
285  TYPE: handle
286
287
288DATA ITEM: Azimuth_rate_control
289  DESCRIPTION:
290    This data item contains the Azimuth_rate analog control
291    information.
292  TYPE: handle
293
294
295DATA ITEM: Drift_adjust_control
296  DESCRIPTION:
297    This data item contains the Drift_adjust discrete control
298    information.
299  TYPE: handle
300
301
302DATA ITEM: Drive_activate_control
303  DESCRIPTION:
304    This data item contains the activate drive relay control information. 
305  TYPE: handle
306
307
308DATA ITEM: Drive_activated_timestamp
309  DESCRIPTION:
310    This data item stores the timestamp of the last time the drive was
311    activated.  It will be used to compute the activated time when a
312    deactivate is received.
313  TYPE: time_t
314  DEFAULT: none
315  NOTES:
316    see C library for data type information
317
318
319DATA ITEM: Drive_on
320  DESCRIPTION:
321    The current status of the turret drive representing whether
322    the drive is on or off.
323  TYPE: boolean
324  DEFAULT: FALSE
325
326
327DATA ITEM: Drive_on_control
328  DESCRIPTION:
329    This data item contains the Drive_on discrete flag control
330    information.
331  TYPE: handle
332
333
334DATA ITEM: Drive_system_hours
335  DESCRIPTION:
336    This data item stores the actual time the drive has been active.
337    This value will be output by the Get_time method and will be set
338    by the Set_time method.
339  TYPE: integer
340  RANGE: 0 - +INFINITY
341  UNITS: seconds
342  DEFAULT: 0
343
344
345DATA ITEM: Elevation_rate_control
346  DESCRIPTION:
347    This data item contains the Elevation_rate analog control
348    information.
349  TYPE: handle
350
351
352DATA ITEM: Elevation_displacement_control
353  DESCRIPTION:
354    This data item contains the Elevation_displacement analog control
355    information.
356  TYPE: handle
357
358
359DATA ITEM: Fault_control
360  DESCRIPTION:
361    This data item contains the Fault discrete flag control
362    information.
363  TYPE: handle
364
365
366DATA ITEM: Remote_power_interlock_control
367  DESCRIPTION:
368    This data item contains the Remote_power_interlock relay control
369    information.
370  TYPE: handle
371
372
373DATA ITEM: Stabilized_mode_control
374  DESCRIPTION:
375    This data item contains the Stabilized_mode discrete flag control
376    information.
377  TYPE: handle
378
379
380DATA ITEM: State
381  DESCRIPTION:
382    The current state of the turret drive representing an activated or
383    deactivated drive.
384  TYPE: State_t
385  DEFAULT: DEACTIVATED
386 
387
388DATA ITEM: Thermal_fault_control
389  DESCRIPTION:
390    This data item contains the Thermal_fault discrete flag control
391    information.
392  TYPE: handle
393
394
395DATA ITEM: Turret_power_interlock_control
396  DESCRIPTION:
397    This data item contains the Turret_power_interlock relay control
398    information.
399  TYPE: handle
400
401
402DATA ITEM: Turret_power_interlock_status
403  DESCRIPTION:
404    The accurate status of the turret power interlock relay.  This value
405    will be used to control the relay during a transition from the remote
406    back to the turret console.
407  TYPE: Interlock_status
408  DEFAULT: none
409
410
411METHOD DESCRIPTIONS:
412
413METHOD:  Activate
414  DESCRIPTION:
415    This method activates the turret drive system.  A timestamp of the
416    activation is recorded to keep a running count of hours the drive has
417    been active.
418  VISIBILITY:  public
419  INPUTS:  none
420  OUTPUTS: none
421  REQUIREMENTS:
422    AFS 8.2.4 Set Palm Grips Active
423    AIS 5.3.2 Palm Grips Active discrete
424  PDL:
425
426    if Drive_on
427      if State is DEACTIVATED
428        close the Drive_activate_control relay using the Relay object
429        timestamp Drive_activated_timestamp for Drive_system_hours
430        running total
431        set State to ACTIVATED
432      else
433        already in the ACTIVATED state
434
435
436METHOD:  Create
437  DESCRIPTION:
438    This method initializes the Turret Drive object.  All monitors of
439    turret drive signals are initialized and/or registered.  All turret
440    drive characteristics are set to their initial values.
441  VISIBILITY:  public
442  INPUTS: none
443  OUTPUTS: none
444  PDL:
445
446    set State to DEACTIVATED
447
448    get Drive_system_hours to initialize the elapsed drive time
449      from the Statistics (eeprom database) object - this is
450        stored upon shutdown in eeprom
451
452    create Fault_control using Discrete_flag object with the
453     following attributes
454      true_sense     - DISCRETE_FLAG_TRUE_IS_1
455      is_buffered    - false
456      is_monitored   - true
457      period         - 10ms
458      change_routine - Change_fault
459    change fault using initial value returned from create Fault_control
460 
461    create Thermal_fault_control using Discrete_flag object with
462     the following attributes
463      true_sense     - DISCRETE_FLAG_TRUE_IS_0
464      is_buffered    - false
465      is_monitored   - true
466      period         - 10ms
467      change_routine - Change_thermal_fault
468    change thermal fault using initial value returned from create
469     Thermal_fault_control
470
471    create Stabilized_mode_control using Discrete_flag object with the
472     following attributes 
473      true_sense     - DISCRETE_FLAG_TRUE_IS_1
474      is_buffered    - false
475      is_monitored   - true
476      period         - 10ms
477      change_routine - Change_stabilized_mode
478    change stabilized mode using initial value returned from create
479     Stabilized_mode_control
480
481    create Drive_on_control using Discrete_flag object with the
482     following attributes
483      true_sense     - DISCRETE_FLAG_TRUE_IS_1
484      is_buffered    - false
485      is_monitored   - true
486      period         - 10ms
487      change_routine - Change_drive_on
488    change drive on using initial value returned from create
489     Drive_on_control
490
491    create Azimuth_rate_control using the Linear_dac object
492     with the following attributes:
493      voltage_low   - -10
494      voltage_high  - +10
495      logical_low   - -60
496      logical_high  - +60
497      is_buffered   - false
498      period        - none
499      initial_value - 0
500
501    create Elevation_rate_control using the Linear_dac object with the
502     following attributes:
503      voltage_low   - -10
504      voltage_high  - +10
505      logical_low   - -60
506      logical_high  - +60
507      is_buffered   - false
508      period        - none
509      initial_value - 0
510
511    create Azimuth_displacement_control using the Linear_adc object with
512     the following attributes:
513      voltage low    - 
514      voltage high   - 
515      logical low    - 
516      logical high   - 
517      is_buffered    - false 
518      is_monitored   - false
519      period         - none
520      change_routine - none
521      delta          - none
522
523    create Elevation_displacement_control using the Linear_adc object
524     with the following attributes:
525      voltage low    - 
526      voltage high   - 
527      logical low    - 
528      logical high   - 
529      is_buffered    - false
530      is_monitored   - false
531      period         - none
532      change_routine - none
533      delta          - none
534
535    create Drive_activate_control using the Relay object with the
536     following attributes:
537      open_sense    - RELAY_OPEN_IS_0
538      is_buffered   - false
539      period        - none
540      initial_state - RELAY_OPEN
541
542    create Turret_power_interlock_control using the Relay object with 
543     the following attributes:
544      open_sense    - RELAY_OPEN_IS_0
545      is_buffered   - false
546      period        - none
547      initial_state - RELAY_OPEN
548    set Turret_power_interlock_status to OPEN
549
550    create Remote_power_interlock_control using the Relay
551     object with the following attributes:
552      open_sense    - RELAY_OPEN_IS_0
553      is_buffered   - false
554      period        - none
555      initial_state - RELAY_OPEN
556
557    create Drift_adjust_control using the Discrete_out object with 
558     following attributes:
559      is_buffered   - false
560      period        - 10ms
561      initial_value - ADJUST_OFF
562
563
564METHOD:  Deactivate
565  DESCRIPTION:
566    This method deactivates the turret drive system.  A timestamp of the
567    activation is recorded to keep a running count of hours the drive
568    has been active.
569  VISIBILITY:  public
570  INPUTS:  none
571  OUTPUTS: none
572  REQUIREMENTS:
573    AFS 8.2.4 Set Plam Grips Active
574    AIS 5.3.2 Palm Grips Active discrete
575  PDL:
576
577    if Drive_on
578      if State is DEACTIVATED
579        timestamp deactivate for Drive_system_hours running total
580        deactivate drive by opening the Drive_activate_control relay
581        using the Relay object
582        compute running time since last activate
583        add running time to Drive_system_hours
584        set State to DEACTIVATED
585      else
586        already in the DEACTIVATED state
587 
588
589METHOD:  Disable_remote_power_interlock
590  DESCRIPTION:
591    This method disables the turret power interlock safety preventing
592    the turret from being driven by the remote's handstation. 
593  VISIBILITY:  public
594  INPUTS:  none
595  OUTPUTS: none
596  REQUIREMENTS:
597    AFS 8.2.12 Control Power Interlock
598  PDL:
599
600    open the remote power interlock relay
601    return the turret relay to its designated state defined by the
602      Turret_power_interlock_status
603 
604
605METHOD:  Disable_turret_power_interlock
606  DESCRIPTION:
607    This method disables the turret power interlock safety preventing
608    the turret from being driven by the turret's handstation. 
609  VISIBILITY:  public
610  INPUTS: none
611  OUTPUTS: none
612  REQUIREMENTS:
613    AFS 8.2.12 Control Power Interlock
614  PDL:
615
616    Deactivate the Drive object
617    open the turret power interlock relay
618    set Turret_power_interlock_status to OPEN
619
620
621METHOD:  Enable_remote_power_interlock
622  DESCRIPTION:
623    This method will enable the remote power interlock to allow
624    the turret to be driven from the remote station.
625  VISIBILITY:  public
626  INPUTS: none
627  OUTPUTS: none
628  REQUIREMENTS:
629    AFS 8.2.12 Control Power Interlock
630  NOTES:
631    At this time the turret's power interlock is opened to avoid
632    having both relays closed at a time.
633  PDL:
634
635    if Drive_on
636      open the turret power interlock relay using the Relay object
637      close the remote power interlock relay using the Relay object
638
639
640METHOD:  Enable_turret_power_interlock
641  DESCRIPTION:
642    This method will enable the turret power interlock to allow
643    the turret to be driven from the turret station.
644  VISIBILITY:  public
645  INPUTS: none
646  OUTPUTS: none
647  REQUIREMENTS:
648    AFS 8.2.12 Control Power Interlock
649  NOTES:
650    At this time the closed state is saved to allow the correct state
651    to be returned to in the event a remote overrides the turret and the
652    remote gives up its control, we must return to the previous state of
653    the turret power interlock.
654  PDL:
655
656    if Drive_on
657      close the turret power interlock relay using the Relay object
658
659      set the Turret_power_interlock_status to CLOSED to return to
660        when remote gives up control
661
662
663METHOD: Get_AZ_EL_displacement 
664  DESCRIPTION:
665    This method returns the current azimuth displacement and elevation
666    displacement from the ECA.
667  VISIBILITY:  public
668  INPUTS:  none
669  OUTPUTS:
670    current azimuth displacement value
671    current elevation displacement value
672  REQUIREMENTS:
673    AFS 8.2.11 Receive Azimuth Displacement and Elevation Displacement
674    AIS 5.2.6 Azimuth Displacement analog
675    AIS 5.2.7 Elevation Displacement analog
676  NOTES:
677    Currently supported as an on-demand type of signal.  May change to a
678    monitored analog signal.
679  PDL:
680   
681    if Drive_on
682      get and return current azimuth displacement and current elevation
683      displacement from ECA using the Linear_ADC object
684 
685
686METHOD:  Get_hours
687  DESCRIPTION:
688    This method returns the current value contained in the elapsed
689    turret drive active time.
690  VISIBILITY:  public
691  INPUTS: none
692  OUTPUTS:
693    elapsed turret drive time - the current elasped turret drive time
694  REQUIREMENTS:
695    bogus requirements
696  REFERENCES:
697    AFS 4.11 Respond to CDT elapsed time indicator key
698  NOTES:
699    bogus notes
700  PDL:
701
702    return the current value for Drive_system_hours
703
704
705METHOD:  Set_drift_adjust
706  DESCRIPTION:
707    This method provides the ability to set the drift adjust to the
708    value represented by the handstation.  Drift adjust is either ON
709    or OFF.
710  VISIBILITY:  public
711  INPUTS:
712    value - new drift adjust value
713      ADJUST_OFF - drift adjust mode is OFF
714      ADJUST_ON  - drift adjust mode is ON
715  OUTPUTS: none
716  REQUIREMENTS:
717    AFS 8.2.6 Capable of turret drift adjustment
718    AIS 5.3.1 Drift Adjust discrete
719  PDL:
720 
721    if Drive_on
722      set drift adjust discrete to value using Discrete_out object
723
724METHOD:  Set_hours
725  DESCRIPTION:
726    This method will set the turret drive activated elapsed time value
727    to the specified value.
728  VISIBILITY:  public
729  INPUTS:
730    new_elapsed_time_value - specified turret drive elapsed time value
731  OUTPUTS: none
732  REQUIREMENTS:
733    AFS 4.11 Respond to CDT elapsed time indicator key
734  PDL:
735 
736    set the value of Drive_system_hours to the value specified by
737      new_elapsed_time_value
738 
739
740METHOD: Set_mode
741  DESCRIPTION:
742    This method sets the requested mode of the turret drive.
743  VISIBILITY: public
744  INPUTS:
745    mode - new requested mode
746      POWER - operating in POWER mode
747      STAB  - operating in STABILIZED mode
748  OUTPUTS:  none
749  REQUIREMENTS:
750    bogus requirements
751  PDL:
752    if mode is POWER
753      set drive mode switchlight to PWR_LAMP using the Console object
754    else if mode is STAB
755      set drive mode switchlight to STB_LAMP using the Console object
756
757   
758METHOD:  Set_rate
759  DESCRIPTION:
760    This method provides the ability to send azimuth and elevation rates
761    to the drive.  Two parameters are used as input to designate the
762    corresponding rates.  These parameters must be in degrees per second.
763  VISIBILITY:  public
764  INPUTS:
765    azimuth rate   - new azimuth rate in degress per second
766    elevation rate - new elevation rate in degress per second
767  OUTPUTS: none
768  REQUIREMENTS:
769    AFS 8.2.3 Send Azimuth and Elevation Rate to ECA
770    AIS 5.3.4 Elevation Rate analog
771    AIS 5.3.5 Azimuth Rate analog
772  NOTES:
773    May need to couple these analogs with an interface driver to close
774    the window between writes and conversions.
775  PDL:
776
777    if Drive_on
778      send the new azimuth rate to the Azimuth analog
779      send the new elevation rate to Elevation analog
780
781
782METHOD:  Set_speed
783  DESCRIPTION:
784    This method sets the turret drive speed mode to the specified value
785    either high or low based on user input.
786  VISIBILITY:  public
787  INPUTS:
788    new_speed_value - new value to set the turret speed to
789      LOW_SPEED  - turret drive does not allow the maximum rate
790      HIGH_SPEED - turret drive allows the maximum rate
791  OUTPUTS: none
792  REQUIREMENTS:
793    AFS 8.2.5 Control Turret
794    AIS 5.3.3 Turret High Speed Mode discrete
795  PDL:
796
797    if Drive_on
798      set turret drive high speed mode discrete to the new_speed_value
799       using Discrete_out object
800
801
802METHOD:  Change_drive_on
803  DESCRIPTION:
804    This method will be used to report a transition of the drive system
805    on discrete.
806  VISIBILITY:  private
807  INPUTS:
808    value - new drive system on value
809      FALSE - indicates drive not on
810      TRUE  - indicates drive on
811  OUTPUTS: none
812  REQUIREMENTS:
813    AFS 8.2.9 Monitor Drive System On
814    AIS 5.2.1 Drive System On discrete
815  REFERENCES:
816    bogus references
817  NOTES:
818    bogus notes
819  PDL:
820
821    set Drive_on to value
822    if Drive_on is FALSE
823      deactivate the turret drive using the Drive object
824
825
826METHOD:  Change_fault
827  DESCRIPTION:
828    This method will be used to indicate that a turret malfunction
829    has been recognized by the turret drive.
830  VISIBILITY:  private
831  INPUTS:
832    value - new value resulting from a fault discrete change
833      FALSE - indicates no fault
834      TRUE  - indicates fault
835  OUTPUTS: none
836  REQUIREMENTS:
837    AFS 8.2.7 Check for ECA failure indication
838    AIS 5.2.4 Turret Drive Malfunction discrete
839  PDL:
840 
841    if value
842      send turret fault message using the Display object
843    else 
844      return
845
846
847METHOD:  Change_stabilized_mode
848  DESCRIPTION:
849    This method will determine a transition from STAB mode to POWER mode.
850    It will set the stab mode lamp on the console.
851  VISIBILITY:  private
852  INPUTS:
853    value - new value resulting from a stab mode discrete change
854      FALSE - indicates not stabilized mode
855      TRUE -  indicates stabilized mode
856  OUTPUTS: none
857  REQUIREMENTS:
858    AFS 8.2.8 Monitor Turret Stab Mode Indicate
859    AIS 5.2.3 Turret Stab Mode Indicate discrete
860  PDL:
861
862    if value
863      set STAB mode light to LAMP_ON using the Console object
864    else value indicates not stabilized mode
865      set STAB mode light to LAMP_OFF using the Console object
866
867
868METHOD:  Change_thermal_fault
869  DESCRIPTION:
870    This method will be used to indicate that a thermal fault has been
871     recognized by the turret drive.
872  VISIBILITY:  private
873  INPUTS:
874    value - new value resulting from a thermal fault discrete change
875      FALSE - indicates no thermal fault
876      TRUE  - indicates thermal fault
877  OUTPUTS: none
878  REQUIREMENTS:
879    AFS 8.2.7 Check for ECA failure indication
880    AIS 5.2.2 Turret ECA Thermal Failure discrete
881  PDL:
882 
883    if value
884      send thermal fault message using the Display object
885    else 
886      return
887
888TASK DESCRIPTIONS: none
889
890ENDOBJECT: Drive
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