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  1. Data Management
  2. DM-24798

Put the Hexapod into Standby State after the clearError Command

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    Description

      Put the hexapod PXI into the standby state after clearing the error. This task will need to update the Simulink model for the state machine transition. After this, I will need to generate the C/C++ code and put back to ts_hexapod_controller and test the new built. This task will need to learn and test and hexapod simulink model. This task will also try to understand the logic of look-up table (LUT) in code.

      Attachments

        1. hexapodStateTransition.png
          hexapodStateTransition.png
          34 kB
        2. hexapod_tilt.png
          hexapod_tilt.png
          102 kB
        3. hexapod_pos.png
          hexapod_pos.png
          63 kB

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            ttsai Te-Wei Tsai added a comment - The updated transition can follow: https://github.com/lsst-ts/ts_hexapod_controller/blob/tickets/DM-24798/src/smlnkModel/hexapod_smlnk_Controller.c#L6685-L6688
            ttsai Te-Wei Tsai added a comment - Please help to review the PRs: 1.  https://github.com/lsst-ts/ts_mt_hexRot_simulink/pull/4 2.  https://github.com/lsst-ts/ts_hexapod_controller/pull/3 The Jenkins test is here: https://tssw-ci.lsst.org/job/LSST_Telescope-and-Site/job/ts_hexapod_controller/job/tickets%252FDM-24798/10/ Thanks!
            rowen Russell Owen added a comment -

            That one change you pointed out (two comments above, "the updated transition") looks fine and your tests are convincing. However, there are two pull requests (with many changed files). Please let me know if there is anything else you want reviewed besides that one snippet.

            rowen Russell Owen added a comment - That one change you pointed out (two comments above, "the updated transition") looks fine and your tests are convincing. However, there are two pull requests (with many changed files). Please let me know if there is anything else you want reviewed besides that one snippet.
            ttsai Te-Wei Tsai added a comment -

            I think the snippet should be good enough at this moment. The main update is in the Simuilink model and it needs to have the Simulink installed to test. There are many files because they were generated by the Simulink model with machine code inside. In addition, the Simulink version I used is R2019a and it looks like MOOG used the R2017a before. Therefore, there should be some change how does the Simulink generate the C/C++ code. Thanks!

            ttsai Te-Wei Tsai added a comment - I think the snippet should be good enough at this moment. The main update is in the Simuilink model and it needs to have the Simulink installed to test. There are many files because they were generated by the Simulink model with machine code inside. In addition, the Simulink version I used is R2019a and it looks like MOOG used the R2017a before. Therefore, there should be some change how does the Simulink generate the C/C++ code. Thanks!

            OK. Then I have marked the pull requests as reviewed (based on those few lines). Thank you for making this change.

            rowen Russell Owen added a comment - OK. Then I have marked the pull requests as reviewed (based on those few lines). Thank you for making this change.

            People

              ttsai Te-Wei Tsai
              ttsai Te-Wei Tsai
              Russell Owen
              Russell Owen, Te-Wei Tsai
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