Fix Version/s: None
Sprint:TSSW Sprint - Oct 28 - Nov 10, TSSW Sprint - Nov 11 - Nov 22
Team:Telescope and Site
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.
DM-22150 The Rotator and Hexapod CSCs should reject all commands when the device is not commandable