PFS-JIRA https://pfspipe.ipmu.jp/jira This file is an XML representation of an issue en-us 8.3.4 803005 13-09-2019 [INSTRM-405] Develop "safe" move sequences. https://pfspipe.ipmu.jp/jira/browse/INSTRM-405 Instrument control development <p>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.</p> INSTRM-405 Develop "safe" move sequences. Task Normal Done Done chihyi cloomis Thu, 5 Jul 2018 15:06:42 +0000 Fri, 17 Dec 2021 03:24:21 +0000 Fri, 17 Dec 2021 03:24:21 +0000 ics_cobraCharmer 0 3 <p>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.</p> <p>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.</p> <p>Interesting point.</p> <p>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 <em>scale</em> of the the last map you can get pretty close to the right one. One move might be enough.</p> <p>We have a SAFE location design in psfDesign now.</p> Development Epic Link INSTRM-407 Rank 0|s0002g: