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Fixed custom-PID response time after being above setpoint #752

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Fixed custom-PID response time after being above setpoint #752

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f1c537a
Add grip and ungrip fns to hwp-supervisor with safety checks (#708)
jlashner Sep 9, 2024
7d2f158
Scpi psu reconnect (#726)
agthomas-uc Sep 9, 2024
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22 changes: 22 additions & 0 deletions docs/agents/hwp_supervisor_agent.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@ Here is an example of a config block you can add to your ocs site-config file::
'--hwp-encoder-id', 'hwp-bbb-e1',
'--hwp-pmx-id', 'hwp-pmx',
'--hwp-pid-id', 'hwp-pid',
'--hwp-pcu-id', 'hwp-pcu',
'--hwp-gripper-id', 'hwp-gripper',
'--ups-id', 'power-ups-az',
'--ups-minutes-remaining-thresh', 45,
'--iboot-id', 'power-iboot-hwp-2',
Expand All @@ -43,6 +45,13 @@ Here is an example of a config block you can add to your ocs site-config file::
'--driver-power-agent-type', 'synaccess',
'--driver-power-cycle-twice',
'--driver-power-cycle-wait-time', 300,

'--acu-instance-id', 'acu',
'--acu-min-el', 48.0,
'--acu-max-el', 90.0,
'--acu-max-time-since-update', 30.0,
'--mount-velocity-grip-thresh', 0.005,
'--grip-max-boresight-angle', 1.0,
]}

For SATP1, we use an ibootbar to power the driver, and it is not necessary to
Expand All @@ -57,12 +66,20 @@ cycle the driver power twice, so the config will look like::
'--hwp-encoder-id', 'hwp-bbb-e1',
'--hwp-pmx-id', 'hwp-pmx',
'--hwp-pid-id', 'hwp-pid',
'--hwp-pcu-id', 'hwp-pcu',
'--hwp-gripper-id', 'hwp-gripper',
'--ups-id', 'power-ups-az',
'--ups-minutes-remaining-thresh', 45,
'--iboot-id', 'power-iboot-hwp-2',
'--driver-iboot-id', 'power-iboot-hwp-2',
'--driver-iboot-outlets', 1, 2,
'--driver-power-agent-type', 'iboot',

'--acu-instance-id', 'acu',
'--acu-min-el', 48.0,
'--acu-max-el', 90.0,
'--acu-max-time-since-update', 30.0,
'--mount-velocity-grip-thresh', 0.005,
]}

.. note::
Expand Down Expand Up @@ -140,6 +157,11 @@ Before spinning up the HWP, the agent will check that
- The current elevation and commanded elevation are in the range ``(acu-min-el, acu-max-el)``.
- The ACU state info has been updated within ``acu-max-time-since-update`` seconds.

Before gripping or ungripping the HWP, the agent will check that:
- The current elevation and commanded elevation are in the range ``(acu-min-el, acu-max-el)``.
- The ACU state info has been updated within ``acu-max-time-since-update`` seconds.
- The az and el velocity is less than ``mount-velocity-grip-thresh``.

Examples
```````````
Below is an example client script that runs the PID to freq operation, and waits
Expand Down
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