CAMAC Progress Report

                    Week Ending: November 23, 2001
                               Week: 43


Tom Folkers:
     1. Spent most of week helping Pete and Tom prepare for next weeks 
        trip to Mt. Graham.

Tom Sargent:
     1. The method of determining the telescope speed by fitting a 
        parabola to the last 10 position reports was reworked. The 
        original attempt had some numerical accuracy problems under 
        some conditions.  The velocities appear to have at least 5 
        significant digits now, as far as numerical effects are 
        concerned.

     2. Looked over the previous servo algorithm to try to figure out 
        why it had such overshoot problems.  I coded a new method 
        which servos the velocity continuously.  It provides for a 
        operator changeable relaxation factor and an operator 
        changeable lag in computing the error. The telescope takes a 
        fraction of a second to respond to a command so, the error 
        feedback is computed using the current speed and the commanded 
        speed at some (adjustable) earlier time. The servo algorithm 
        was debugged using the telescope simulator code which behaves 
        like a "perfect" telescope.

Pete Hubbard:
     1. Gunn phase lock module chassis had no documentation and the 
        front pots, switches, and connectors were not labeled.
     2. Gathered what paperwork was around and compared schematics 
        with chassis box wiring. Also labeled front pots, switches and 
        connectors.
     3. Started bench setup for testing Gunn and phase lock module.

Dave Ashby:
     1. No Report.