[INSTRM-405] Develop "safe" move sequences. Created: 06/Jul/18 Updated: 17/Dec/21 Resolved: 17/Dec/21 |
|
| Status: | Done |
| Project: | Instrument control development |
| Component/s: | ics_cobraCharmer |
| Affects Version/s: | None |
| Fix Version/s: | None |
| Type: | Task | Priority: | Normal |
| Reporter: | cloomis | Assignee: | chihyi |
| Resolution: | Done | Votes: | 0 |
| Labels: | EngRun, PFI | ||
| Remaining Estimate: | Not Specified | ||
| Time Spent: | Not Specified | ||
| Original Estimate: | Not Specified | ||
| Epic Link: | MPS Phase One |
| Description |
|
We need a minimal set of safe moves for motors with and without valid motor maps, or at least as close as we can get. Ideally we can get a moveHome() from any position. |
| Comments |
| Comment by chihyi [ 12/Jul/18 ] |
|
In theory, if we move theta and phi motor in opposite direction, and the speed for phi is twice the speed of theta, then the fiber-tip will move in a straight line. For safe home sequence, in case that we don't know current position, this also means we can't use motor map, we can try to move theta motor for a small amount and move phi motor the twice of this amount in the opposite direction. Repeat this process to home phi motor first. |
| Comment by cloomis [ 12/Jul/18 ] |
|
Interesting point. I suspect that using the last motor map will always be better than not using it. And Erin's tests suggest that if you can quickly measure a simple scale of the the last map you can get pretty close to the right one. One move might be enough. |
| Comment by chyan [ 17/Dec/21 ] |
|
We have a SAFE location design in psfDesign now. |