Reviewed the csa-questions-icd_comments_pjl.docx and noticed the followings:
1. We do not think this is a problem since the Rotator control will be doing a fit (spline interpolation, likely) to determine a smooth trajectory through the provided setpoints. --> This might be a problem when we change the direction of tracking target.
2. Note that while consecutive setpoints may instantaneously change direction, the control will smooth the rotator motion according to the dynamics of the system. The implication is that the rotator will not satisfy the inPosition criterion until it has completed the slew and changed direction.

A related document is CDR - Software V2.pptx.

Reviewed the H&R Software Acceptance Notes - INTERNAL DISTRIBUTION ONLY.docx and noticed the followings:
Hard to describe, but in one occasion we had to restart everything because it got into an uncontrollable state. In another occasion we had to restart everything because Harini closed a window using the X rather than exit button… I am concerned the operability of the software is not as good as it should be.

Reviewed the  Rotator Tracking Requirements Discussion.pptx and noticed the followings:
1. There are the position and velocity trajectories in the tracking.

The introduction of rotator control model is Hexapods & Rotator Regular Telecon 2016 Mar 14.pptx.

The further discussion is  2016-04-01-LSST Command Module.pptx.

The analysis of algorithm is  2016-06-01 LSST CDR - Control System Design and Analysis_1.pptx. The discussion of Stop command began here.

The discussion of Stop command is 2016-06-27 Response to FDR Action Items_revA.pptx.

Verified the case 1 in slew here: controlAlgorithmCase1.nb

Verified the case 2 in slew here: controlAlgorithmCase2.nb

Verified the case 3 in slew here: controlAlgorithmCase3.nb

Created the Trajectory Generator in Rotator. Added the Position-Related Acceleration Trajectory Component.

Please help to review this task. The organized pages of trajectory generator are:
1. https://confluence.lsstcorp.org/display/LTS/Trajectory+Generator+in+Rotator
2. https://confluence.lsstcorp.org/display/LTS/Position-Related+Acceleration+Trajectory+Component

Thanks!

This looks good. I made a few minor edits to both confluence pages. Please feel free to undo any changes you dislike. (I didn't turn on notifications because Confluence is so unreliable that I save often, and I didn't want to flood anyone with change notifications).