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new RT4 control system on RTLinux - scanning issue

scanning in horizontal AZ-ZD (azimuth-zenith_distance) coordinates

version of rt_main.c 2006-12-09 15:46

  • rt_main.c 2006-12-09 15:46:

with scan_corners-0.1.patch

a few comments on the patch

The main change in the algorithm was to use the measured offsets for making decisions instead of the set (requested) offsets.

test_scan.c at present uses an arbitrary algorithm for modelling how the telescope actually gets to where it wants to get, and shakes the telescope around a bit to possibly detect any obvious numerical rounding problems.

SCAN_CORNER_TOLERANCE_DEG in rt_main.h decides how sharp or rounded the corners should be - the smaller it is, the more sharp they are.

  • scan_patch_0.1_080612hor.png:
    scan_patch_0.1_080612hor.png scan_patch_0.1_080612hor_closeup.png

parameter in rt_main.h: #define SCAN_CORNER_TOLERANCE_DEG 0.002 /* tolerance in degrees for scans */

parameters for scan_patch_0.1_080612hor.png read from simulator:
2008.6.12  15:40:21.639771 epoch=1950
ST=37195.7 UT=56421.6 date=1.2062e+07 JD=2.45463e+06 dayOfYear=164
real: AZ=29.0388 ZD=19.2727 REC=143.624 DEC=35.559
set:  AZ=30.0362 ZD=20.2732 REC=142.796 DEC=34.7486
offsets: AZ=-1 ZD=-1 REC=0.8285 DEC=0.8097
VA64 VZ=17
flags: Hoffset=1 Eoffset=0 Sourcedemand=1 Pointdemand=0
rCA=3840 rCB=3840 rCX=3840 rCY=3840 rCZ=3840
commandDesc :scan 1000 11  [OK]

identical code, but increase tolerance to: SCAN_CORNER_TOLERANCE_DEG 0.05

  • scan_patch_0.1_tol0p05_080612.png:

parameters read from simulator:
2008.6.12  19:5:36.541391 epoch=1950
ST=49544.3 UT=68736.5 date=1.2062e+07 JD=2.45463e+06 dayOfYear=164
real: AZ=0.7797 ZD=17.8834 REC=206.142 DEC=35.2133
set:  AZ=2.0841 ZD=18.391 REC=206.136 DEC=34.7132
offsets: AZ=-1 ZD=-1 REC=0.4007 DEC=0.9935
VA74 VZ=1
flags: Hoffset=1 Eoffset=0 Sourcedemand=1 Pointdemand=0
rCA=3840 rCB=3840 rCX=3840 rCY=3840 rCZ=3840
commandDesc :scan 1000 11  [OK]
Topic attachments
I Attachment Action Size Date Who Comment
scan_no_patch_080610hor.pngpng scan_no_patch_080610hor.png manage 2.5 K 12 Jun 2008 - 20:37 BoudRoukema rt_main.c 2006-12-09 15:46
scan_patch_0.1_080612hor.pngpng scan_patch_0.1_080612hor.png manage 2.0 K 12 Jun 2008 - 20:37 BoudRoukema  
scan_patch_0.1_080612hor_closeup.pngpng scan_patch_0.1_080612hor_closeup.png manage 2.5 K 12 Jun 2008 - 21:08 BoudRoukema close up
scan_patch_0.1_tol0p05_080612.pngpng scan_patch_0.1_tol0p05_080612.png manage 2.4 K 12 Jun 2008 - 21:42 BoudRoukema  
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Topic revision: r1 - 12 Jun 2008, BoudRoukema
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