template<class T , class S >

int StateMachineDrive< T, S >::InitMovement ( const ZdAz &  sky, bool  tracking = false, const string &  name = ""  )

inlineprivate

Definition at line 1886 of file drivectrl.cc.

References Source::dec, Drive::State::kMoving, Source::name, PointingSetup::orbit_period, Source::ra, PointingModel::SkyToMount(), PointingSetup::source, PointingSetup::start, PointingSetup::wobble_angle, and PointingSetup::wobble_offset.

    {
        fMovementTarget = fPointingModel.SkyToMount(sky);

        // Check whether bending is valid!
        if (!CheckRange(sky*(180/M_PI)))
            return StopMovement();

        fStep = 0;
        fIsTracking = tracking;

        fDrive.SetRpmMode(false); // *NEW*  (Stop a previous tracking to avoid the pointing command to be ignored)
        fDrive.SetAcceleration(fAccPointing);

        if (!tracking)
            fDrive.UpdateSource(Time(), name, false);
        else
        {
            const array<double, 5> dim =
            {{
                fPointingSetup.source.ra,
                fPointingSetup.source.dec,
                fPointingSetup.wobble_offset * 180/M_PI,
                fPointingSetup.wobble_angle  * 180/M_PI,
                fPointingSetup.orbit_period  * 24*60
            }};
            fDrive.UpdateSource(fPointingSetup.start, dim, fPointingSetup.source.name);
        }

        return State::kMoving;
    }

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