In SLAC rotator testing today we discovered several issues that need fixing:
- The counter field was the wrong type for Command and Header (should be uint, not ushort).
- The rotator and hexapod CSCs have no heartbeat output. This strongly suggests we should have a base class for both CSCs.
- The rotator commander outputs too much noise because of encoder jitter (not a surprise). This is likely an issue for the hexapod commander as well.
Note that we still were not able to command the rotator: the commands were ignored. Fixing that is a different ticket.
I have attached a file that shows some binary telemetry data we read from the rotator, and how the Python code parses it.