CAMAC Progress Report

                    Week Ending: December 07, 2001
                               Week: 45


Tom Folkers:
     1. Personnel issues keep me from contributing much to this 
        project.

Tom Sargent:
     1. I altered the servo code to allow adjusting the feedback 
        frequency. I think the failure of the servo code on the last 
        run was due partly to the fact that it was applying velocity 
        corrections too frequently. The operator can now specify a 
        period (in units of 10ms position report intervals) over which 
        the velocity error is averaged and then a correction for the 
        average error is applied. This should prevent the velocity 
        oscillation that was observed. This code has been tested and 
        debugged with the simulator.
     2. I wrote some scripts to simplify analyzing the telescope 
        motion at the SMT.
     3. Improved the servo.c program's 'help' command. 
     4. Helped Pete H. check the filtering built into the Traquair 
        A/D. There doesn't appear to be any, at least not below 50KHz.
     5. Provided for an optional open loop slew mode.  This was 
        debugged with the simulator.

Pete Hubbard:
     1. Used an external sample clock to run the A/D converters and 
        collected data at 1khz, 2khz, 5khz and 10khz. The response did 
        not change except at 10khz there are not enough points for a 
        good response number.
     2. Made a low pass filter out of L and C components and tested 
        the response and phase shift at cutoff  of 1khz .
     3. Also built an active filter using Maxim's MAX270  it is a 
        second order low pass. Early testing shows low phase shift 
        approximately 2 deg at maximum tracking rate approximately 
        33hz.

Dave Ashby:
     1. No Report.