ACU: more care when setting up go_to #768
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This may explain some instances seen on LAT where a go_to leads to "Irregularity during motion!" error. The deeper symptom is that the Preset position appears to not take effect (the "commanded position" does not update). So perhaps either an outstanding fault, or a side effect of clear_faults, prevents the position from updating.
This is part (2) of trying to avoid errors where the http connection is closed or does not reply, when initiating a move.
BrianJKoopman
approved these changes
Oct 14, 2024
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Description
ACU motion is initiated in a more carefully ordered way (clear_faults, start move in one axis, start move in next axis...).
Motivation and Context
This responds to odd errors seen on the LAT (a while ago) and on SATP1 (recently). Not clear that these fixes will resolve those issues, but it's quite possible.
How Has This Been Tested?
Tested on SATP1.
Types of changes
Checklist: