Add speedrate parameter for insert() / eject() functions in wiregrid_actuator

docs/agents/wiregrid_actuator.rst

@@ -77,6 +77,10 @@ The main functions are ``insert()`` and ``eject()``.
 In the both of the functions, after the inserting/ejecting, the stopper locks the actuators again.
 However, the motor power is not turned ON or OFF during the both functions.
 
+The parameter details are here:
+- speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)
+  DO NOT use speedrate > 1.0 if el != 90 deg!!
+
 **Test Functions**
  - check_limitswitch(): Check ON/OFF of the limit switches
  - check_stopper(): Check ON/OFF (lock/unlock) of the stoppers
@@ -98,7 +102,8 @@ In the test mode, you can choose the moving distance [mm] and speed rate.
 The parameter details are here:
 
 - distance: Actuator moving distance [mm] (default: 10)
-- speedrate: Actuator speed rate [0.0, 1.0] (default: 0.2)
+- speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)
+  DO NOT use speedrate > 1.0 if el != 90 deg!!
 
 
 Hardware Configurations

socs/agents/wiregrid_actuator/agent.py

@@ -276,13 +276,23 @@ def _eject(self, main_distance=920, main_speedrate=1.0):
     ##################
     # Return: status(True or False), message
 
+    @ocs_agent.param('speedrate', default=1.0, type=float,
+                     check=lambda x: 0.0 < x <= 5.0)
     def insert(self, session, params=None):
         """insert()
 
         **Task** - Insert the wire-grid into the forebaffle interface above the
         SAT.
 
+        Parameters:
+            speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
+                DO NOT use speedrate > 1.0 if el != 90 deg!!
         """
+        # Get parameters
+        speedrate = params.get('speedrate')
+        self.log.info('insert(): set speed rate = {}'
+                      .format(speedrate))
+
         with self.lock.acquire_timeout(timeout=3, job='insert') as acquired:
             if not acquired:
                 self.log.warn(
@@ -293,22 +303,32 @@ def insert(self, session, params=None):
             # Wait for a second before moving
             time.sleep(1)
             # Moving commands
-            ret, msg = self._insert(920, 1.0)
+            ret, msg = self._insert(920, speedrate)
             if not ret:
                 msg = 'insert(): '\
-                      'ERROR!: Failed insert() in _insert(850,1.0) | {}'\
-                      .format(msg)
+                      'ERROR!: Failed insert() in _insert(920,{}) | {}'\
+                      .format(speedrate, msg)
                 self.log.error(msg)
                 return False, msg
             return True, 'insert(): Successfully finish!'
 
+    @ocs_agent.param('speedrate', default=1.0, type=float,
+                     check=lambda x: 0.0 < x <= 5.0)
     def eject(self, session, params=None):
         """eject()
 
         **Task** - Eject the wire-grid from the forebaffle interface above the
         SAT.
 
+        Parameters:
+            speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
+                DO NOT use speedrate > 1.0 if el != 90 deg!!
         """
+        # Get parameters
+        speedrate = params.get('speedrate')
+        self.log.info('eject(): set speed rate = {}'
+                      .format(speedrate))
+
         with self.lock.acquire_timeout(timeout=3, job='eject') as acquired:
             if not acquired:
                 self.log.warn(
@@ -319,10 +339,10 @@ def eject(self, session, params=None):
             # Wait for a second before moving
             time.sleep(1)
             # Moving commands
-            ret, msg = self._eject(920, 1.0)
+            ret, msg = self._eject(920, speedrate)
             if not ret:
-                msg = 'eject(): ERROR!: Failed in _eject(850,1.0) | {}'\
-                    .format(msg)
+                msg = 'eject(): ERROR!: Failed in _eject(920,{}) | {}'\
+                    .format(speedrate, msg)
                 self.log.error(msg)
                 return False, msg
             return True, 'eject(): Successfully finish!'
@@ -451,7 +471,7 @@ def eject_homing(self, session, params=None):
 
     @ocs_agent.param('distance', default=10., type=float)
     @ocs_agent.param('speedrate', default=0.2, type=float,
-                     check=lambda x: 0.0 < x <= 1.0)
+                     check=lambda x: 0.0 < x <= 5.0)
     def insert_test(self, session, params):
         """insert_test(distance=10, speedrate=0.1)
 
@@ -460,7 +480,8 @@ def insert_test(self, session, params):
 
         Parameters:
             distance (float): Actuator moving distance [mm] (default: 10)
-            speedrate (float): Actuator speed rate [0.0, 1.0] (default: 0.2)
+            speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
+                DO NOT use speedrate > 1.0 if el != 90 deg!!
         """
         # Get parameters
         distance = params.get('distance')
@@ -502,16 +523,17 @@ def insert_test(self, session, params):
 
     @ocs_agent.param('distance', default=10., type=float)
     @ocs_agent.param('speedrate', default=0.2, type=float,
-                     check=lambda x: 0.0 < x <= 1.0)
+                     check=lambda x: 0.0 < x <= 5.0)
     def eject_test(self, session, params):
         """eject_test(distance=10, speedrate=0.1)
 
         **Task** - Eject slowly the wire-grid from the forebaffle interface
         above the SAT with a small distance.
 
         Parameters:
-            distance:  Actuator moving distance [mm] (default: 10)
-            speedrate: Actuator speed rate [0.0, 1.0] (default: 0.2)
+            distance (float): Actuator moving distance [mm] (default: 10)
+            speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
+                DO NOT use speedrate > 1.0 if el != 90 deg!!
         """
         # Get parameters
         distance = params.get('distance', 10)