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Type:
Task
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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_fpsActor
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Labels:None
While looking into a strange psycopg request, I noticed that a couple of phi motors were being driven strangely, specifically between -8e-08 and 2*pi and pi. Among other things, why would phi ever be driven as far as 2*pi...
The psycopg issue may or may not be connected. I'll keep it in the log segment:
2025-01-23 14:15:26.534Z engineer 20 engineer.py:422 Updating the cobra information
2025-01-23 14:15:26.534Z engineer 20 engineer.py:412 Sending angles to moveToAngles for 3-th iteration
2025-01-23 14:15:26.534Z cobraCoach 20 cobraCoach.py:1009 Moving deltaTheta = [-2.91396173 -1.39297183 -2.16077359]
2025-01-23 14:15:26.534Z cobraCoach 20 cobraCoach.py:1010 Moving deltaPhi = [ 5.43590465e+00 -8.74227801e-08 -8.74227801e-08]
2025-01-23 14:15:26.535Z cobraCoach 20 cobraCoach.py:877 Finished converting angle to steps, sending command to moveSteps (constantOntime).
2025-01-23 14:15:26.535Z cobraCoach 20 cobraCoach.py:587 Sending step numbers to FPGA for moving cobra.
2025-01-23 14:15:26.535Z cobraCoach 20 cobraCoach.py:601 cobra control FPGA operation done.
2025-01-23 14:15:26.546Z pfi 40 pfi.py:896 Some theta angles are out of range
2025-01-23 14:15:26.546Z pfi 40 pfi.py:899 Some phi angles are out of range
2025-01-23 14:15:26.593Z engineer 20 engineer.py:422 Updating the cobra information
2025-01-23 14:15:26.593Z engineer 20 engineer.py:412 Sending angles to moveToAngles for 4-th iteration
2025-01-23 14:15:26.593Z cobraCoach 20 cobraCoach.py:1009 Moving deltaTheta = [-2.91396173 -1.36822303 -1.78866942]
2025-01-23 14:15:26.593Z cobraCoach 20 cobraCoach.py:1010 Moving deltaPhi = [5.43590465 6.28318516 6.28318516]
2025-01-23 14:15:26.593Z cobraCoach 20 cobraCoach.py:877 Finished converting angle to steps, sending command to moveSteps (constantOntime).
2025-01-23 14:15:26.594Z cobraCoach 20 cobraCoach.py:587 Sending step numbers to FPGA for moving cobra.
2025-01-23 14:15:26.594Z cobraCoach 20 cobraCoach.py:601 cobra control FPGA operation done.
2025-01-23 14:15:26.604Z pfi 40 pfi.py:896 Some theta angles are out of range
2025-01-23 14:15:26.604Z pfi 40 pfi.py:899 Some phi angles are out of range
2025-01-23 14:15:26.651Z engineer 20 engineer.py:422 Updating the cobra information
2025-01-23 14:15:26.651Z engineer 20 engineer.py:412 Sending angles to moveToAngles for 5-th iteration
2025-01-23 14:15:26.651Z cobraCoach 20 cobraCoach.py:1009 Moving deltaTheta = [-2.91396173 -1.34347423 3.02339761]
2025-01-23 14:15:26.651Z cobraCoach 20 cobraCoach.py:1010 Moving deltaPhi = [5.43590465 3.14159265 4.6856629 ]
2025-01-23 14:15:26.651Z cobraCoach 20 cobraCoach.py:877 Finished converting angle to steps, sending command to moveSteps (constantOntime).
2025-01-23 14:15:26.652Z cobraCoach 20 cobraCoach.py:587 Sending step numbers to FPGA for moving cobra.
2025-01-23 14:15:26.652Z cobraCoach 20 cobraCoach.py:601 cobra control FPGA operation done.
2025-01-23 14:15:26.662Z pfi 40 pfi.py:896 Some theta angles are out of range
2025-01-23 14:15:26.662Z pfi 40 pfi.py:899 Some phi angles are out of range
2025-01-23 14:15:26.709Z cobraCoach 30 cobraCoach.py:675 Cobra#1303 is too far from center
2025-01-23 14:15:26.709Z engineer 20 engineer.py:422 Updating the cobra information
2025-01-23 14:15:26.709Z engineer 30 engineer.py:445 3 cobras did not finish: [ 442 1302 1789], [1.96 5.12 3.36]
2025-01-23 14:15:26.709Z engineer 20 engineer.py:450 Returning 2394 atThetas and 2394 atPhis
2025-01-23 14:15:26.709Z cmds 20 CommandLink.py:122 > 2 67 i text="Reset the current angles for cobra arms."
2025-01-23 14:15:26.710Z cmds 20 CommandLink.py:122 > 2 67 i text="Setting ThetaAngle = Home and phiAngle = 0."
2025-01-23 14:15:26.731Z pfi 40 pfi.py:899 Some phi angles are out of range
2025-01-23 14:15:27.434Z cmds 20 CommandLink.py:122 > 2 67 f text="command failed: DataError('(psycopg2.errors.NumericValueOutOfRange) \"-20868313380858152000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\" is out of range for type real\\n') in do_execute() at /software/condaRoot/envs/rubin8-ics/lib/python3.11/site-packages/sqlalchem
y/engine/default.py:924"