[INSTRM-1638] fps moveToPfsDesign should home the cobras *if necessary* Created: 19/Jun/22 Updated: 21/Sep/23 Resolved: 21/Sep/23 |
|
| Status: | Done |
| Project: | Instrument control development |
| Component/s: | ics_fpsActor |
| Affects Version/s: | None |
| Fix Version/s: | None |
| Type: | Task | Priority: | Normal |
| Reporter: | cloomis | Assignee: | chihyi |
| Resolution: | Done | Votes: | 0 |
| Labels: | None | ||
| Remaining Estimate: | Not Specified | ||
| Time Spent: | Not Specified | ||
| Original Estimate: | Not Specified | ||
| Description |
|
We are switching to always have gen2 setup the field (move the telescope, tell PFS the chosen designId, converge the cobras). To make that sane, `fps` needs to handle all parts of the convergence. As it stands, convergence requires starting at home, so the `moveToPfsDesign` command should start by homing the cobras. That is an expensive step, so should be skipped if not necessary. |
| Comments |
| Comment by yuki.moritani [ 21/Sep/23 ] |
|
(as of 2023. Sep) This function was implemented and used in the past runs. So I close this ticket. |