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  1. Instrument control development
  2. INSTRM-2512

Implement hotRoach strategy

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      10

      Description

      Implement the new fast dotRoach strategy, aka hotRoach, which can be broken down in :

      • moveToHome
      • Take a reference trace
      • converge to near-dot
      • tune a kalman for each cobra, use mcs measured position as a feedback until the dot is reached.
      • measure the flux using sps, convert this to an estimated position which feed the kalman
      • continue until the center of the dot is reached.

      Current dotRoach takes about 30 minutes in total.
      With the new approach we should be able to cut that to 10-12 minutes

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          is blocked by

          Task - A task that needs to be done. INSTRM-2514 Infer distance to dotCenter from SpS flux attenuation for hotRoaching

          • Normal - Normal priorities
          • Open

          Task - A task that needs to be done. INSTRM-2515 Robustify feedback from MCS for hotRoaching

          • Normal - Normal priorities
          • Open

          Task - A task that needs to be done. INSTRM-2516 Be careful as the edge of the dot feeding MCS position

          • Normal - Normal priorities
          • Open

          Task - A task that needs to be done. INSTRM-2513 Implement a first hotRoach version

          • Normal - Normal priorities
          • Done

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              • Assignee:
                arnaud.lefur arnaud.lefur
                Reporter:
                arnaud.lefur arnaud.lefur
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                • Created:
                  Updated: