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