Target Runs, Debugging
- After Chaz and Johannes had seen some images being taken before move finished (12000 steps moves) we added back the wait command
- Johannes analyzed whether the above issue happens on target runs by manual inspection and concluded it does not occur. (Measured time for moves and mean was always 4.xx ms.)
- Hrands Timing Calculation is off by a factor of 4 because he uses 1ms interleave interval at every single step (instead of actual ontime) and multiplies it by max number of steps for each positioner in a group and addds all these values for each group (15 groups).
- Moving direct from previous target position tested on 9/29 target run. Seems to work.
- Discussed cap of steps per iteration with Hrand, might be problematic for collision avoidance blind moves.
- Discussed testing of collision avoidance.
- Analyzed the reason for previous target runs taking long time -> PID3 motor map was off so that 42k steps were commanded at some point -> 65 seconds moves.
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JohannesGross - 29 Sep 2015
This topic: Subaru/PFS
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Topic revision: r1 - 2015-09-29 - JohannesGross