PID6 On Time

• Manually moved some phi stages of PID6 neighbors to see if that clears a conflict between them
• Created 2014_07_22_pid6phiReMap to test phi ontimes again with PID6
• Phi fwd got stuck as usual around 77deg with .1 ontime
• Manually moved it around with the moveMotor command while visually monitoring it for collisions, none seen. Still gets stuck.
• Backed up and tried moving past with larger ontime of .15 and this did work, even keeping step size at 30.
• Last night it was getting stuck in reverse using ontime of .16 and steps of 30, so tried that manually and this time it got passed.

Remapping PID 6 phi

• Created and ran 2014_07_22_pid6phiRemap2 to remap phi at .16 ontimes on PID6.
• Results are in 07_22_14_10_31_14_msimMaps
• Phi made it all the way around fine in forward, but reverse again stalled at 78deg. The exact moves in reverse on phi were just used to move the full ROM when sending them by hand with different timing in between.

cmd_moveMotor_DurationInterval 1,6,2,-30,0.16,2.5

• Aborted the script where phi was stuck in reverse.
• Using the same moveMotor command but modifying steps to back up the first time, we executed the following series of moves and measured the angles reported by MSIM:

Retrying motor map script for phi rev

• This time phi gets around fine in reverse. However we noticed that the angles look messed up with it starting at around 140deg and ending at 13deg and going back and forth in the beginning.
• Remembering that there was one positioner with bad sigma on the link lengths, went and checked and confirmed it was 6.
• Returned to center images and found four that did not have sufficient centroids on 6 to fit a good circle. Filtered those out and moved the rest to new directory: D:\PfsTests\07_18_14_15_13_10_centers\Images\filteredPhi
• Processed new phi centers with much cleaner results. Took the link lengths for PID6 and merged them into existing config we have been working off of.

>> cfg1 = loadCfgXml

cfg1 = 

    ARM_DATA: [1x1 struct]
     cfgFile: 'allMaps_072114_1.xml'
     cfgPath: 'D:\DevCodePft\Main\user\xml_files\'

>> cfg2 = loadCfgXml

cfg2 = 

    ARM_DATA: [1x1 struct]
     cfgFile: 'newPID6links_072214.xml'
     cfgPath: 'D:\PfsTests\07_18_14_15_13_10_centers\Images\filteredPhi\'

>> pid6L1 = getARMval(cfg2,6,'Link1_Link_Length')

pid6L1 =

   25.9725

>> pid6L2 = getARMval(cfg2,6,'Link2_Link_Length')

pid6L2 =

   28.9691

>> cfg1 = setARMval(cfg1,6,'Link1_Link_Length',pid6L1)

cfg1 = 

    ARM_DATA: [1x1 struct]
     cfgFile: 'allMaps_072114_1.xml'
     cfgPath: 'D:\DevCodePft\Main\user\xml_files\'

>> cfg1 = setARMval(cfg1,6,'Link2_Link_Length',pid6L2)

cfg1 = 

    ARM_DATA: [1x1 struct]
     cfgFile: 'allMaps_072114_1.xml'
     cfgPath: 'D:\DevCodePft\Main\user\xml_files\'

>> cobraCfg2xml(cfg1,'allmaps_6arms_072214.xml')

• Loaded allmaps_6arms_072214 into MSIM and restarted
• Created 2014_07_22_pid6phiRemap3 to remap phi in fwd rev at two different ontimes each. First trial is .16ontime and second is 0.1
• All the phi maps got stuck at 70deg in FWD and REV. Completely inconsistent behavior here....
• Running the same script again, PhiFwd can't get home and starts at the stuck point 70deg. Aborted script
• Trying again with the same script. Now it starts from 11.5deg and made it through the fwd map ok
  • D:\PfsTests\07_22_14_13_39_39_pid6phi160us\Log
• Phi rev stalled at 77deg again
• Removed phi fwd commands and restarted script (07_22_14_13_56_57_pid6phi160us)
• Ran and got stuck again...
• Restarting (07_22_14_14_02_16_pid6phi160us)
• Still gets stuck at 70deg...
• Giving up on pid6

Target Run with Adjustments

• Even though not expecting anything much from PID6, going to update the link lengths for the next run. Leave maps the same as they were since new ones are crap.
• Ran adjustMaps in 07_21_14_23_31_12_TargetRun using allmaps_6arms_072214.xml as base config
  • Saved adjusted xml as allMaps_072114_1_adj1.xml (overwrote the old one)
• Loaded allMaps_072114_1_adj1.xml into MSIM and saved and restarted
• Starting target run with 2014_07_09_TargetsEMSetC (07_22_14_14_41_38_TargetRun)