Skip to content

INSTRM-2909: fix dead theta margin code in moveToPfsDesign #23

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
alefur merged 1 commit into from
Apr 20, 2026
Merged

INSTRM-2909: fix dead theta margin code in moveToPfsDesign #23

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
13 changes: 9 additions & 4 deletions python/ics/fpsActor/Commands/FpsCmd.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1696,6 +1696,15 @@ def moveToPfsDesign(self, cmd):
filteredThetas = thetas[~notMoveMask[goodIdx]]
filteredPhis = phis[~notMoveMask[goodIdx]]

# Bump theta targets too close to the CW hard stop (local ~0°) to their equivalent
# position above 360°, reachable directly from the park position without a full revolution.
# Use per-cobra optimal margin = (thetaRange - 2π) / 2, which guarantees the bumped
# angle stays within [0, thetaRange] for every cobra.
_thetaRangeAll = (self.cc.calibModel.tht1 - self.cc.calibModel.tht0 + np.pi) % (np.pi * 2) + np.pi
_optMargin = (_thetaRangeAll - 2 * np.pi) / 2
_bump = filteredThetas < _optMargin[filteredGoodIdx]
filteredThetas[_bump] += np.pi * 2

# Detailed statistics of filtered cobra
cmd.inform(f'text="=== Filtering Summary ==="')
cmd.inform(f'text=" After mask filtering: {len(goodIdx)}"')
Expand Down Expand Up @@ -1773,10 +1782,6 @@ def moveToPfsDesign(self, cmd):

cmd.inform(f'text="Saved filtering data: {len(filtering_records)} exclusions logged"')

# adjust theta angles that is too closed to the CCW hard stops
thetaMarginCCW = 0.1
thetas[thetas < thetaMarginCCW] += np.pi * 2

cmd.inform(f'text="Reset the motor scaling factor."')
self.cc.pfi.resetMotorScaling(self.cc.allCobras)

Expand Down