ACU Agent: "Irregularity" during a small el move

simonsobs / socs

Simons Observatory specific OCS agents.

BSD 2-Clause "Simplified" License

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ACU Agent: "Irregularity" during a small el move #617

Closed mhasself closed 8 months ago

mhasself commented 8 months ago

Contributing factors:

El speed + accel lowered recently to .5 and .5
Small move request ... only 0.015 deg.
Likely the siren needed to sound, incurring 10 second start up delay.

Loosening the timeout is likely sufficient.

Log

Trajectory

mhasself commented 8 months ago

Similar problem related to timeouts... on a go_to zenith this just barely timed out, because the normal vel is now low (0.5, matching the "UNREASONABLE_VEL" used to compute the timeout param), and the ACU slows even more near the software limit at 90.