https://pfspipe.ipmu.jp/jira This file is an XML representation of an issue en-us 8.3.4 803005 13-09-2019 https://pfspipe.ipmu.jp/jira/browse/INSTRM-1747 Instrument control development <p>We will need to make small move (&lt; 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.</p> <p>Not sure how to detect/handle/reject unsafe requests. </p> INSTRM-1747

Allow "incremental" convergence.

Task Normal Done Done chyan cloomis EngRun PFI Thu, 6 Oct 2022 18:30:13 +0000 Tue, 7 Feb 2023 22:35:26 +0000 Thu, 3 Nov 2022 14:16:37 +0000 ics_fpsActor 0 2 <p>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. </p> <p>There are two methods to do this. One is the same command with flag called "noHome" with current "moveToPfsDesign" or another command called "moveToIncremental"? <a href="https://pfspipe.ipmu.jp/jira/secure/ViewProfile.jspa?name=cloomis" class="user-hover" rel="cloomis">cloomis</a></p> <p>Now, the default function of moveTopfsDesign will not ask cobra to go back home position unless user adding "goHome" argument.</p> Development Rank 0|02qph7:01i Sprint 2DDRP-2023 A Story Points 2.0