HexapodCommander

class lsst.ts.mthexapod.HexapodCommander(index, enable)

Bases: CscCommander

Command the MTHexapod CSC from the command line.

Parameters:

• index (int) – SAL index of MTHexapod CSC.

• stdout. (Read commands from stdin and write updated events and telemetry to)

• jitter (The telemetry is filtered so that tiny changes due to encoder)

• ignored. (are)

• command_mthexapod. (Used by)

• enable (bool)

Methods Summary

positions_close(position1, position2)	Return True if two positions are nearly equal.
tel_actuators_callback(data)	Callback for actuators telemetry.
tel_application_callback(data)	Callback for the application telemetry.

Methods Documentation

positions_close(position1, position2)

Return True if two positions are nearly equal.

Parameters:

• position1 (List [float]) – Position 1: x, y, z (µm) and rotx, roty, rotz (deg)

• position2 (List [float]) – Position 2: x, y, z (µm) and rotx, roty, rotz (deg)

Return type:

bool

async tel_actuators_callback(data)

Callback for actuators telemetry.

Output actuators telemetry data if the values have changed enough to be interesting.

Parameters:

data (self.controller.tel_actuators.DataType.) – Actuators data.

Return type:

None

async tel_application_callback(data)

Callback for the application telemetry.

Output application telemetry if the values have changed enough to be interesting.

Parameters:

data (self.controller.tel_application.DataType.) – Actuators data.

Return type:

None