gmt_dos-clients_servos

A client for the GMT servo-mechanisms.

lib.rs:

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
• ReferenceBody
• 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::{asms_servo, AsmsServo, 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()?;