[INSTRM-402] Add starting position to moveThetaPhi() Created: 05/Jul/18 Updated: 23/Feb/23 Resolved: 23/Feb/23 |
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| Status: | Won't Fix |
| Project: | Instrument control development |
| Component/s: | ics_cobraOps |
| Affects Version/s: | None |
| Fix Version/s: | None |
| Type: | Task | Priority: | Normal |
| Reporter: | cloomis | Assignee: | Unassigned |
| Resolution: | Won't Fix | Votes: | 0 |
| Labels: | PFI | ||
| Remaining Estimate: | Not Specified | ||
| Time Spent: | Not Specified | ||
| Original Estimate: | Not Specified | ||
| Epic Link: | MPS Phase One |
| Description |
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The moveThetaPhi routine assumes that the cobras are at home. Allow specifying the starting position. |
| Comments |
| Comment by chyan [ 11/Jul/18 ] |
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Instead of starting position, we should pass "current position" of the cobra arms. So that this function will take it into account when calculating the motor map. |
| Comment by yuki.moritani [ 23/Feb/23 ] |
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As of 2022, the cobra stars from the home position and records the movement history. |