[INSTRM-1747] Allow "incremental" convergence. Created: 07/Oct/22 Updated: 08/Feb/23 Resolved: 03/Nov/22 |
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| 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: | chyan |
| Resolution: | Done | Votes: | 0 |
| Labels: | EngRun, PFI | ||
| Remaining Estimate: | Not Specified | ||
| Time Spent: | Not Specified | ||
| Original Estimate: | Not Specified | ||
| Story Points: | 2 |
| Sprint: | 2DDRP-2023 A |
| Description |
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We will need to make small move (< 100um, say) and/or cheap convergences, starting from the current position and not using any two-step algorithms, etc. This may already be supported, but I'm writing this ticket to at least check. Not sure how to detect/handle/reject unsafe requests. |
| Comments |
| Comment by chyan [ 12/Oct/22 ] |
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Yes, this mode is supported. At the level of cobraCoach, we can move cobra in many different ways and the moveToPsfDesign is just the combination of those operations. One possible way is to ask all cobra move a certain distance. FPS will calculate the arm angles based on motor map and arm lengths. |
| Comment by chyan [ 28/Oct/22 ] |
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There are two methods to do this. One is the same command with flag called "noHome" with current "moveToPfsDesign" or another command called "moveToIncremental"? cloomis |
| Comment by chyan [ 03/Nov/22 ] |
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Now, the default function of moveTopfsDesign will not ask cobra to go back home position unless user adding "goHome" argument. |