The current low-level MT hexapod controller has a few issues that I would love to have cleaned up, if you can find the time:
- Commanding a motion requires two separate commands: SET_POSITION followed by MOVE (and something similar for offsets). This introduces a potential race condition if two users are trying to command the hexapod. It is also a nuisance. I believe it was originally chosen because of the MOVE_LUT command, but we don't use that anymore.
- Remove the unused MOVE_LUT command and any associated code that is easy to pull out. That includes removing the LUT tables and no longer reporting the LUT values in the configuration (making the configuration data much shorter).
Please also also consider removing the offset command. The CSC isn't using it (it supports offsets, but implements them by commanding absolute moves).
The hexapod EUI will be affected by this ticket and need to do the related modification.