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Type:
Bug
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Status: Won't Fix (View Workflow)
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Priority:
Normal
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Resolution: Won't Fix
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Component/s: ics_cobraCharmer, ics_fpsActor
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Labels:
Looking into why the incremental convergence routines were taking so long, I noticed that for each of the four iterations there were a number of cobras which were sent on long (maximum) theta moves, and several which were commanded on long moves for every iteration. This suggests very bad (x,y) -> (theta, phi) conversions or a bug.
For example, on run 20221119_005, the following groups all theta=2000 step moves by cobra:
cd /data/MCS grep 2000 20221119_015/logs/fpgaProtocol.log | sort
And within those 93 lines, there are several cobras which showed four commands – they never converged at all:
run cobra: 22 6 Theta: 1 ccw 2000 40.0 0.0 Phi: 0 cw 0 18.0 0.0 run cobra: 22 6 Theta: 1 ccw 2000 40.0 0.0 Phi: 1 cw 2 18.0 1998.0 run cobra: 22 6 Theta: 1 ccw 2000 40.0 0.0 Phi: 1 cw 2 18.0 1998.0 run cobra: 22 6 Theta: 1 ccw 2000 40.0 0.0 Phi: 1 cw 9 18.0 1991.0 run cobra: 25 5 Theta: 1 ccw 2000 40.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 25 5 Theta: 1 ccw 2000 40.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 25 5 Theta: 1 ccw 2000 40.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 25 5 Theta: 1 ccw 2000 40.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 53 12 Theta: 1 ccw 2000 33.0 0.0 Phi: 0 cw 0 23.0 0.0 run cobra: 53 12 Theta: 1 ccw 2000 33.0 0.0 Phi: 1 ccw 1 22.0 0.0 run cobra: 53 12 Theta: 1 ccw 2000 33.0 0.0 Phi: 1 ccw 13 22.0 0.0 run cobra: 53 12 Theta: 1 ccw 2000 33.0 0.0 Phi: 1 ccw 49 22.0 0.0 run cobra: 75 27 Theta: 1 ccw 2000 39.0 0.0 Phi: 0 cw 0 30.0 0.0 run cobra: 75 27 Theta: 1 ccw 2000 39.0 0.0 Phi: 0 cw 0 30.0 0.0 run cobra: 75 27 Theta: 1 ccw 2000 39.0 0.0 Phi: 0 cw 0 30.0 0.0 run cobra: 75 27 Theta: 1 ccw 2000 39.0 0.0 Phi: 0 cw 0 30.0 0.0 run cobra: 78 19 Theta: 1 ccw 2000 41.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 78 19 Theta: 1 ccw 2000 41.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 78 19 Theta: 1 ccw 2000 41.0 0.0 Phi: 0 cw 0 20.0 0.0 run cobra: 78 19 Theta: 1 ccw 2000 41.0 0.0 Phi: 0 cw 0 20.0 0.0
In two cases the first phi move was 0 – so a two-step command? In the other three none of of the phi moves were enabled. Something is wrong there. If the cobra is broken, the Theta: enable bit should be off.
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INSTRM-1851 Update the coordinate transformation of 71M camera at Unit Selector.
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- Done
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