Drive system:

• There are two motors to move the floor: the master and the slave.
• The little star computer generates a single velocity command for the floor.
  
• This is sent via a dac and then signal conditioning board to the backlash compensation board
• The backlash compensation board then sends the velocity command to the master and slave amps
• A small backlash compensation is added to remove backlash in the gears.
• As the velocity increases this compensation is slowly removed.
  

Notes, gotchas:

15aug14: If the turret does not arrive at the requested position..zero velocity offset adjustement:

• run montur
• command turret to a position. look at VelocityCnt (say 2009)
• compute what zero velocity offset this would be for the dac:
• zeroVelOffset= VelocityCnt  + 100 - 2048. this is the value that should be loaded in the  little star
• See what value is currently loaded in little star
• in vw% window execute tcl:
• for {set i 0} {$i < 38} {incr i} {
      puts "[pnt tur qpar $i]"
      aog delay 10
      flush stdout
  }
  
  
• Then on observer2: cd  /home/phil/vw/datatk/pnt/ttt/tt
• in the shell execute: ttParms
  
• 34  zeroVelOff         53       where 53 would be the zero velocity offset
• If it is off by more than a count or two
• from observer2:
• rsh pnt ttTst
• 21 1
• 9 34   Value you computed above for zeroVelOffset
• 10 34  read back into vxWorks
• 99  quit
• The try ttParms again.. you should now see the new zero velocity offset.
  

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