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final version used for testing at summit #82

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final version used for testing at summit #82

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136 changes: 124 additions & 12 deletions .../m2_functional_verification/LVV-T2969-M2-outer-control-loop-CL-mode-axial-actuators.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -46,10 +46,13 @@
"\n",
" num_axial_actuator = np.array([9, 32, 70])\n",
" force = [-150, -100, -50, +50, +100, +150]\n",
" #force = [-100, -50, -25, +25, +50, +100]\n",
"\n",
" \n",
" for idx in num_axial_actuator:\n",
" print(f\"Do the bump test of actuator: {idx}.\")\n",
" time_start = datetime.now()\n",
" print(f\"UTC time to is {time_start} now.\")\n",
" for f in force:\n",
" await bump_axial_actuator(csc, idx, f, sleep_time=sleep_time)\n"
]
Expand Down Expand Up @@ -111,57 +114,166 @@
"await m2.cmd_setLogLevel.set_start(level=10)"
]
},
{
"cell_type": "markdown",
"id": "5b7cc995-bd0c-4bf0-ad51-bc1292dc5b8d",
"metadata": {
"execution": {
"iopub.execute_input": "2023-11-08T17:56:02.995031Z",
"iopub.status.busy": "2023-11-08T17:56:02.994686Z",
"iopub.status.idle": "2023-11-08T17:56:02.999673Z",
"shell.execute_reply": "2023-11-08T17:56:02.998982Z",
"shell.execute_reply.started": "2023-11-08T17:56:02.995015Z"
},
"tags": []
},
"source": [
"## SYSTEM STATUS LEGEND \n",
"1. DISABLED = 1\n",
"2. ENABLED = 2\n",
"3. FAULT = 3\n",
"4. OFFLINE = 4\n",
"5. STANDBY = 5\n",
"\n",
"Standby --> Disable --> Enabled\n",
"\n",
"await m2.cmd_start.set_start(timeout=30)\n",
"await m2.cmd_enable.set_start(timeout=200)\n",
"\n",
"To Stop, do this: Enabled --> Disable --> Standby\n",
"\n",
"await m2.cmd_disable.set_start(timeout=30)\n",
"await m2.cmd_standby.set_start(timeout=30) "
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "93f19bc8-b340-42d6-84f0-d8a2246c8ccd",
"id": "54af402e-db13-4cd7-b122-e9a547cdd990",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"state_m2 = m2.evt_summaryState.get()\n",
"if state_m2.summaryState != salobj.State.ENABLED:\n",
" await salobj.set_summary_state(m2, salobj.State.ENABLED, timeout=60)"
"# get status\n",
"state = m2.evt_summaryState.get()\n",
"print(f'System Status: {state.summaryState}')"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "00bcabe3-3fa6-46fb-a15d-f6a6ffcfc332",
"id": "ef503bb0-6461-46ba-aaea-d69575351c7b",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"time_start = datetime.now()\n",
"print(f\"UTC time to is {time_start} now.\")"
"# Standby --> Disable\n",
"await m2.cmd_start.set_start(timeout=30)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "45054edb-f42e-4142-8ca1-7de0fb5e7df1",
"id": "a290bed7-7de5-47ef-b425-f2ef575a1c07",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"# bump actuators with linear sequence of forces\n",
"\n",
"await run_bump_test(m2, sleep_time=5)"
"# Disable --> Enabled\n",
"await m2.cmd_enable.set_start(timeout=550)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "b6be041b-6016-4786-8090-0528a122b4bf",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"print(m2.evt_interlock.get())\n",
"print(m2.evt_innerLoopControlMode.get())\n",
"print(m2.evt_errorCode.get())\n",
"print(m2.evt_forceBalanceSystemStatus.get())"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "a7f36de0-6441-45d9-a355-4f4083928c8e",
"metadata": {},
"outputs": [],
"source": [
"# Enabled --> Disable\n",
"await m2.cmd_disable.set_start(timeout=30)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "10a4b044-0454-40e1-97a2-e44a3504d8d8",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"#Disable --> Standby\n",
"await m2.cmd_standby.set_start(timeout=60)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "d41dd37a-82d2-4b2f-8746-2e08739bd3c5",
"id": "265bdbb8-5743-4332-acd6-ff32c020ec02",
"metadata": {},
"outputs": [],
"source": [
"#Fault --> Standby\n",
"await m2.cmd_standby.set_start(timeout=30)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "93f19bc8-b340-42d6-84f0-d8a2246c8ccd",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"state_m2 = m2.evt_summaryState.get()\n",
"if state_m2.summaryState != salobj.State.ENABLED:\n",
" await salobj.set_summary_state(m2, salobj.State.ENABLED, timeout=460)"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "45054edb-f42e-4142-8ca1-7de0fb5e7df1",
"metadata": {
"tags": []
},
"outputs": [],
"source": [
"# bump actuators with linear sequence of forces\n",
"\n",
"await run_bump_test(m2, sleep_time=30)\n",
"\n",
"time_end = datetime.now()\n",
"print(f\"UTC time to is {time_end} now.\")"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "a04feee1-11c3-42bb-891d-b78168298a21",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
Expand Down