Crate gmt_dos_clients_servos

GMT Servo-Mechanisms

A dos-actors system that combines together a few clients:

• the GMT FEM
• the GMT mount control system
• the GMT M1 control system
• the GMT M2 control system

Per default, only a few inputs and outputs of the FEM are made available:

• FEM inputs:
  • MountTorques
  • M1HardpointsForces
  • HardpointsForces<ID>
  • M1ActuatorAppliedForces
  • ActuatorAppliedForces<ID>
  • M2ASMVoiceCoilsForces
  • VoiceCoilsForces<ID>
  • M2ASMFluidDampingForces
  • FluidDampingForces<ID>
  • M2PositionerForces
• FEM outputs
  • MountEncoders
  • M1HardpointsMotion
  • HardpointsMotion<ID>
  • M1RigidBodyMotions
  • M2ASMVoiceCoilsMotion
  • VoiceCoilsMotion<ID>
  • M2RigidBodyMotions
  • M2PositionerNodes

Other builders will add extra inputs and outputs to the FEM. These builders are:

• [AsmsServo]
  • [Facesheet][asms_servo::Facesheet]
  • [ReferenceBody][asms_servo::ReferenceBody]
  • [VoiceCoils][asms_servo::VoiceCoils]
• [WindLoads]
• [EdgeSensors]

Warning

The gmt_dos-clients_servos crate depends on some code that is generated at compile timed based on the value of the environment variables FEM_REPO and MOUNT_MODEL. To get the full documentation, you need to set the FEM_REPO environment variable and recompile the docs locally with:

FEM_REPO=<path-to-fem>  cargo doc --no-deps --package gmt_dos-clients_servos --open

Example

use gmt_dos_clients_servos::GmtServoMechanisms;
use gmt_fem::FEM;

const ACTUATOR_RATE: usize = 80; // 100Hz

let frequency = 8000_f64; // Hz
let fem = FEM::from_env()?;

let gmt_servos =
    GmtServoMechanisms::<ACTUATOR_RATE, 1>::new(frequency, fem).build()?;