CAMAC Progress Report

                      Week Ending: June 29, 2001
                               Week: 22


Tom Folkers:
     1. Spent most of week preparing for our tests to be conducted 
        next week at site.
     2. Worked on documentation.

Tom Sargent:
     1. The least squares solutions (ellipse fits) are taking 15 ms to 
        complete, which is longer than the anticipated position report 
        period. So the reporting logic was rearranged so it will never 
        be more than 2  to 3 ms late.
     3. We tested the program with the motor driven encoder which Pete 
        has working.  It seemed to be able to keep up and also 
        recognized the reference pulse.
     4. I did some experimentation with the T.I. compiler optimizer.  
        Not much success yet.
     5. Bill Peters gave me the reference pulse position data for the 
        telescope, which I incorporated into the program reference 
        pulse section 
     6. Wrote a diagnostic for the parallel port interface to use at 
        the telescope next week.
     7. Added velocity computation to the program.
     8. Enabled the T.I. DSP's instruction cache. The ellipse fit 
        routine now runs in 14ms. I am leaving it enabled from now on.

Pete Hubbard:
     1. Testing A/D collection electronics with encoder test set. 
        Found the MPI 6000 amplifier board current limited the output 
        sin and cos signal on the negative part of the waveform. Added 
        different op-amps to fix the problem.
     2. Finished the counter interface chassis.
     3. Testing with the SMT required adding op-amps to the MPI 6000 
        board that enables them to drive the new and old antenna servo 
        at the same time.

Dave Ashby:
     1. No Report.