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MuffinSpawn / FMS

My personal FMS task management and field-testing repository.
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Method: Move Platform #24

Closed MuffinSpawn closed 7 years ago

MuffinSpawn commented 7 years ago

Things left to do:

  1. Define how we determine what the stand position is (i.e. w.r.t. the stand targets).
  2. Create working list of stand targets to measure. (MOVE)
  3. Get the total number of stand targets. (FIND_STAND_TARGET)
  4. Calculate position error. (POST_MOVE)
MuffinSpawn commented 7 years ago

It is irrelevant in what manor the current stand control software at ANL "knows" the stand's position. Regardless, we will need to

  1. Define the home position to be the position that corresponds to the point furthest out of the solenoid bore that triggers the linear movement limiter switch.
  2. Define what the "stand's position" means. For now, I am defining this to be the average z coordinate of the stand targets.
  3. Create a Position property that holds the currently measured home position.
MuffinSpawn commented 7 years ago

  1. This is left up to the Motion component implementation and may or may not be true.

  2. The stand position is currently defined as the average position of all reflectors' z coordinates.

  3. From issue #40:

The Move command will subtract the two distances, add the requested linear displacement, and predict the stand reflector positions by adding this displacement to their configured home z coordinates in the DSCS. Stand reflector measurements will then be used to calculate the new CurrentDistance.

The "two distances" are the CurrentPosition and HomePosition property values.