Uploaded image for project: 'Data Management'
  1. Data Management
  2. DM-29577

Please refine the MT hexapod low-level commands

    XMLWordPrintable

Details

    • 2
    • TSSW Sprint - Apr 12 - Apr 26
    • Telescope and Site
    • No

    Description

      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.

      Attachments

        Issue Links

          Activity

            People

              ttsai Te-Wei Tsai
              rowen Russell Owen
              Russell Owen
              Bo Xin [X] (Inactive), Russell Owen, Te-Wei Tsai, Tiago Ribeiro
              Votes:
              0 Vote for this issue
              Watchers:
              4 Start watching this issue

              Dates

                Created:
                Updated:
                Resolved:

                Jenkins

                  No builds found.