Details
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Type:
Story
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Status: Done
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Resolution: Done
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Fix Version/s: None
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Component/s: ts_main_telescope
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Story Points:3
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Sprint:TSSW Sprint - Jun 8 - Jun 22
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Team:Telescope and Site
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Urgent?:No
Description
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds (rotator's position keeps the same) because of the second target has the velocity of -0.01 deg/sec.
Attachments
Issue Links
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- Done
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- Done
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- Done
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- Done
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- Done
Activity
| Field | Original Value | New Value |
|---|---|---|
| Attachment | track_v0_1_long_enterFault.png [ 44216 ] |
| Description |
The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. |
The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspection is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspection is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time=6 second. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Epic Link |
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| End date | 11/Jun/20 | |
| Sprint | TSSW Sprint - Jun 8 - Jun 22 [ 1024 ] | |
| Start date | 08/Jun/20 | |
| Story Points | 3 | |
| Team | Telescope and Site [ 13500 ] | |
| Labels | HexRot MainTelescope |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Description |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
The path generator will continuously update the demand position even if there is no new track command received in the SlewAndTrack sub-state. The initial suspect is that this comes from the non-zero target velocity in the final received track command. This will continue to update the position command. The initial idea to fix this is to reset the velocity command to be zero if no new track command received.
The following figure (x-axis: time in seconds, y-axis: value such as position in degree) shows this problem. There are two targets (positions = 1.2 degree and 3 degree. velocity = 0.01 deg/sec and -0.01 deg/sec). The track command does not continue after the time equals 6 seconds. We could see the rotator position is at 3 degree when time is at 8 seconds but the demand position is decreasing after time=8 seconds (rotator's position keeps the same) because of the second target has the velocity of -0.01 deg/sec. !track_v0_1_long_enterFault.png|thumbnail! |
| Status | To Do [ 10001 ] | In Progress [ 3 ] |
| Labels | HexRot MainTelescope | HexRot MainTelescope ccw-rotator-integration-test |
| Watchers | Russell Owen, Te-Wei Tsai [ Russell Owen, Te-Wei Tsai ] | Russell Owen, Te-Wei Tsai, Tiago Ribeiro [ Russell Owen, Te-Wei Tsai, Tiago Ribeiro ] |
| Attachment | trackWithoutNewTrackCmd.png [ 44349 ] | |
| Attachment | trackWithSomeNewTrackCmdAndNoCmd.png [ 44350 ] | |
| Attachment | trackWithSomeNewTrackCmdAndNoCmdMagnify.png [ 44351 ] |
| Attachment | trackStopBeforeSlewDone.png [ 44359 ] | |
| Attachment | trackStopAfterSlewDone.png [ 44360 ] |
| Attachment | trackWithStopAndSecondTargetSmaller.png [ 44401 ] |
| Attachment | trackWithStopAndSecondTargetSmaller.png [ 44402 ] |
| Attachment | moveWithStop.png [ 44403 ] |
| Attachment | moveWithStop.png [ 44403 ] |
| Attachment | moveWithStop.png [ 44404 ] |
| Attachment | trackWithStopAnd3rdTarget.png [ 44408 ] |
| Attachment | trackWithStopAnd3rdTargetOfPosNow.png [ 44409 ] |
| Attachment | trackWithStopAnd3rdTargetOfPosNowAndRewiteCmdPosAndVel.png [ 44415 ] |
| Reviewers | Russell Owen [ rowen ] | |
| Status | In Progress [ 3 ] | In Review [ 10004 ] |
| Status | In Review [ 10004 ] | Reviewed [ 10101 ] |
| Resolution | Done [ 10000 ] | |
| Status | Reviewed [ 10101 ] | Done [ 10002 ] |