CAMAC Progress Report

                       Week Ending: May 31, 2002
                               Week: 70


Tom Folkers:

Tom Sargent:
     1. Monday was a holiday. 
     2. I split the 'show' functions out of servo.c into a separate 
        servoShow.c file. This is just to reduce the length of the 
        servo.c file which is now about 5800 lines. A number of other 
        functions were split off into servoUtil.c last week. The 
        Makefile has been updated.
     3. I changed the catalog.c program to use the longitude of Mt. 
        Graham instead of Kitt peak. 
     4. I tested a mod to the sun avoidance code.  The first step now 
        has a much greater choice of safe points to run to. It checks 
        100  candidates 2 degrees outside the solar avoidance zone and 
        picks the one it can get to the quickest.  (In the second step 
        it moves 50 degrees away from the sun.)  I still need to 
        address the case where one axis drive is disabled. 
     5. I collapsed the RMS figures that the DSP sends with each 
        position report from 3 32-bit words to 1. I then added the raw 
        encoder data (cos, sin, ref) for each encoder to the position 
        report.  This is a net change in length of a position report 
        from 11 words to 14. It will allow the operator to view a 
        sample of the raw encoder outputs.  The servo program has been 
        altered to save the raw encoder data in 3 circular buffers in 
        tstable.  They presently retain samples of raw encoder data 
        from the last 5 seconds.

Pete Hubbard:
     1. VCO/Mux testing and install back in rack.
     2. PCB board driver complete.
     3. Vacation May 30,31

David Forbes: