Differences

This shows you the differences between two versions of the page.

--- vatt:legacy_psuedo-hexpod [2017/07/11 14:19]
scott created
+++ — (current)
@@ Line 1: / Line 1: @@
-====== VATT Psuedo Hexapod Legacy ======
-The VATT secondary is focused and collimated with a Psuedo Hexapod. Motion between the axis are coupled but as little as possible and we get uncoupled positions with some linear algebra and iterations
-===== Software =====
-The VATT secondary is controled using a vxworks based c program. You can find the source in our mogit repository. The most source file is secmove.c.
-{{:vatt:secmove_flowchar.png?200|}}
-<code c>
-/* VATT secondary move routine
- * The six user motions are all cross coupled
- * into the six motors on the VATT secondary.
- * Hence, all the matrix math.
- * This will be a replacement for winsec.c
- */
-#define abs(a)             ((a) < 0 ? -(a) : (a))
-extern	void	sprintf();
-extern	void	printf();
-extern	int	sec_checkVoltsOK();
-extern	void	movev();
-extern	void	vme8_kill();
-double	sec_dv = 0.03;		/* maximum allowable voltage difference */
-double	sec_dvmax = 0.2;	/* maximum before kill */
-double	sec_min_temp = -40.0;	/* minimum sane temperature */
-double	sec_max_temp =  50.0;	/* maximum sane temperature */
-double	sec_min_cosel = 0.0;	/* minimum sane cosine(elevation) */
-double	sec_max_cosel = 1.0;	/* maximum sane cosine(elevation) */
-double	sec_lastgood_temp;	/* last sane temperature */
-double	sec_lastgood_cosel;	/* last sane cosine(elevation) */
-int	sec_max_mloops = 5;	/* maximum motor loops */
-#define V       6       /* number of motors/sensors */
-#define M       6       /* number of user motions */
-#define TIPX    0       /* arcseconds */
-#define TIPY    1
-#define TIPZ    2
-#define DECENX  3       /* microns */
-#define DECENY  4
-#define FOCUS   5
-double	sec_threshold[M] = {2.5, 2.5, 2.5, 4.5, 4.5, 1.0};
-char	sec_errormessage[100];		/* error message */
-double  sec_u0[M];      /* previous user values */
-double  sec_u[M];       /* user values */
-double  sec_c[M];       /* corrections */
-double  sec_m[M];       /* target motions */
-double  sec_t[V];       /* target voltages */
-double  sec_v[V];       /* true voltages */
-double  sec_p[M];       /* true positions */
-/* The immediately above positions are derived from the lvdt readings
- * and multiplied by v2m, then the zero offset is removed.
- */
-#define C       4       /* number of corrections */
-#define FTC     0
-#define FLC     1
-#define CTC     2
-#define CLC     3
-/* the original Steve West matrix
- */
-double sec_m2v_sw[V][M] = {
-{0.0029680,   0.0051070, -0.0001555, -0.0000931, -0.0001510, -0.0069780},
-{0.0016000,  -0.0007957, -0.0033810, -0.0033320, -0.0058000, -0.0003111},
-{0.0029300,  -0.0050660, -0.0000175, -0.0000407,  0.0000389, -0.0069420},
-{-0.001475,  -0.0010590, -0.0032270, -0.0031640,  0.0057680, -0.0004334},
-{-0.005346,  -0.0000617,  0.0000176,  0.0000674,  0.0001066, -0.0063050},
-{-0.0001785,  0.0017840, -0.0034270,  0.0065690,  0.0000873, -0.0002048}
-};
-/* All new values per cromwell 10/6/97
- * Most of these are now updated in startup.cmd
- */
-double  sec_z[M] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-double  sec_z0[M] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
-double sec_m2v[V][M] = {
-{0.0029680,   0.0051070, -0.0001555, -0.0000931, -0.0001510, -0.0069780},
-{0.0016000,  -0.0007957, -0.0033810, -0.0033320, -0.0058000, -0.0003111},
-{0.0029300,  -0.0050660, -0.0000175, -0.0000407,  0.0000389, -0.0069420},
-{-0.001475,  -0.0010590, -0.0032270, -0.0031640,  0.0057680, -0.0004334},
-{-0.005346,  -0.0000617,  0.0000176,  0.0000674,  0.0001066, -0.0063050},
-{-0.0001785,  0.0017840, -0.0034270,  0.0065690,  0.0000873, -0.0002048}
-};
-double sec_v2m[M][V] = {
-{  55.4830132,   -3.6541212,   58.2489128,   -0.3046370, -125.3519897,    0.4331740, },
-{  98.1537399,   -3.2015131,  -98.2364426,    0.0305685,   -0.2867458,   -0.8237946, },
-{   3.4616468, -100.5291290,    5.1929183,  -99.6347046,    5.4746866,  -98.9561157, },
-{ -25.0618916,  -50.5131302,   29.3149300,  -53.1427689,   -1.6702332,  100.8553619, },
-{  16.7931938,  -85.4085464,   12.2465286,   88.4728470,  -33.9353485,   -0.0462751, },
-{ -47.9787979,    0.8650305,  -47.8929024,    0.9076155,  -52.8920479,    0.4418988, },
-};
-double sec_c2m[M][C] = {
-{   0.0,    0.0,   0.0,   0.0, },
-{   0.0,    0.0,   0.0,   0.0, },
-{   0.0,    0.0,   0.0,   0.0, },
-{   0.0,    0.0,   0.0,   0.0, },
-{   0.0,    0.0,   0.0,   0.0, },
-{   0.0,    0.0,   0.0,   0.0, },
-};
-void
-sec_update_Z (m0, m1, m2, m3, m4, m5)
-double	m0;
-double	m1;
-double	m2;
-double	m3;
-double	m4;
-double	m5;
-{
-	int	m;
-	double mm[M];
-	mm[0] = m0;
-	mm[1] = m1;
-	mm[2] = m2;
-	mm[3] = m3;
-	mm[4] = m4;
-	mm[5] = m5;
-	for (m = 0; m < M; m++) {
-	    sec_z[m] = mm[m];
-	    sec_z0[m] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_nelsonCT (m0, m1, m2, m3, m4, m5)
-double	m0;
-double	m1;
-double	m2;
-double	m3;
-double	m4;
-double	m5;
-{
-	int	m;
-	double mm[M];
-	mm[0] = m0;
-	mm[1] = m1;
-	mm[2] = m2;
-	mm[3] = m3;
-	mm[4] = m4;
-	mm[5] = m5;
-	for (m = 0; m < M; m++) {
-	    sec_c2m[m][CTC] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_nelsonCL (m0, m1, m2, m3, m4, m5)
-double	m0;
-double	m1;
-double	m2;
-double	m3;
-double	m4;
-double	m5;
-{
-	int	m;
-	double mm[M];
-	mm[0] = m0;
-	mm[1] = m1;
-	mm[2] = m2;
-	mm[3] = m3;
-	mm[4] = m4;
-	mm[5] = m5;
-	for (m = 0; m < M; m++) {
-	    sec_c2m[m][CLC] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_nelsonFT (m5)
-double	m5;
-{
-	sec_c2m[FOCUS][FTC] = m5;
-}
-void
-sec_update_nelsonFL (m5)
-double	m5;
-{
-	sec_c2m[FOCUS][FLC] = m5;
-}
-void
-sec_engzero ()
-{
-	int	m;
-	for (m = 0; m < M; m++) {
-	    sec_u[m] -= sec_z0[m]-sec_z[m];
-	    sec_z[m] += sec_z0[m]-sec_z[m];
-	}
-}
-void
-sec_userzero ()
-{
-	int	m;
-	for (m = 0; m < M; m++) {
-	    sec_z[m] += sec_u[m];
-	    sec_u[m] = 0.0;
-	}
-}
-void
-sec_logger (orig, mess)
-char	*orig;
-char	*mess;
-{
-	void	vxcall();
-	vxcall ("_logger_it", orig, mess, 0,0,0,0,0,0,0,0);
-}
-int
-sec_telslewing()
-{
-	int	telslewing = 0;
-	void	vxcall();
-	vxcall ("_telx_sec_telslewing", &telslewing, 0,0,0,0,0,0,0,0,0);
-	return (telslewing);
-}
-int	sec_working;
-double	sec_azimuth;
-double	sec_derotator;
-double	sec_elevation;		/* current altitude in radians */
-double	sec_temperature;	/* current temperature in degrees C */
-static  int     sec_autofocus;
-static  int     sec_autocoll;
-void
-sec_update_tl ()        /* update temperature and elevation */
-{
-	void	vxcall();
-	vxcall ("_telx_sec_temperature", &sec_temperature, 0,0,0,0,0,0,0,0,0);
-	vxcall ("_telx_sec_elevation"  , &sec_elevation  , 0,0,0,0,0,0,0,0,0);
-	vxcall ("_telx_sec_azimuth"  , &sec_azimuth  , 0,0,0,0,0,0,0,0,0);
-	vxcall ("_telx_sec_derotator"  , &sec_derotator  , 0,0,0,0,0,0,0,0,0);
-}
-void
-sec_autoreset ()
-{
-}
-void
-sec_autofocus_set (status)
-int     status;
-{
-        sec_autofocus = status;
-}
-int
-sec_autofocus_get ()
-{
-        return (sec_autofocus);
-}
-void
-sec_autocoll_set (status)
-int     status;
-{
-        sec_autocoll = status;
-}
-int
-sec_autocoll_get ()
-{
-        return (sec_autocoll);
-}
-void
-sec_update_corr ()
-{
-        int     m, c;
-        double  sc;
-        double  temp, cosel;
-        double d[C];
-        double cos();
-        sec_update_tl ();
-	temp = sec_temperature;
-	cosel = cos(sec_elevation);
-	/* sanity checks
-	 */
-	if (sec_min_temp < temp && temp < sec_max_temp) {
-	    sec_lastgood_temp = temp;
-	} else {
-	    temp = sec_lastgood_temp;
-	}
-	if (sec_min_cosel < cosel && cosel < sec_max_cosel) {
-	    sec_lastgood_cosel = cosel;
-	} else {
-	    cosel = sec_lastgood_cosel;
-	}
-        d[FTC] = sec_autofocus ? temp : 0.0;
-        d[FLC] = sec_autofocus ? cosel : 0.0;
-        d[CTC] = sec_autocoll ? temp : 0.0;
-        d[CLC] = sec_autocoll ? cosel : 0.0;
-        for (m = 0; m < M; m++) {
-            sc = 0.0;
-            for (c = 0; c < C; c++) {
-                sc += sec_c2m[m][c] * d[c];
-            }
-            sec_c[m] = sc;
-        }
-}
-void
-sec_calct ()    /* calculate targets */
-{
-        int     m, v;
-        double  t;
-        for (v = 0; v < V; v++) {
-            t = 0.0;
-            for (m = 0; m < M; m++) {
-                sec_m[m] = sec_u[m]+sec_c[m]+sec_z[m];
-                t += sec_m2v[v][m] * sec_m[m];
-            }
-            sec_t[v] = t;
-        }
-}
-void
-sec_calcp ()    /* calculate true positions */
-{
-        int     m, v;
-        double  p;
-	for (m = 0; m < M; m++) {
-            p = 0.0;
-	    for (v = 0; v < V; v++) {
-                p += sec_v2m[m][v] * sec_v[v];
-            }
-            sec_p[m] = p - sec_z[m];
-        }
-}
-int
-sec_checkMove()
-{
-	int	v;
-	int	mstatus = 0;
-	int	rstatus = 0;
-	double	residual;
-	char	errormessage[100];
-	int	strlen();
-	errormessage[0] = 0;
-	for (v = 0; v < V; v++) {
-	    residual = sec_t[v]-sec_v[v];
-	    sprintf (errormessage+strlen(errormessage), " %.4f", residual);
-	    if (abs(residual) > sec_dv)
-		mstatus = 1;
-	    if (abs(residual) > sec_dvmax)
-		rstatus = 1;
-	}
-	if (mstatus)
-	    sprintf (sec_errormessage, "residuals =%s", errormessage);
-	return (rstatus);
-}
-void
-sec_voltsNotOK ()
-{
-	int	v;
-	char	errormessage[100];
-	int	strlen();
-	errormessage[0] = 0;
-	for (v = 0; v < V; v++) {
-	    sprintf (errormessage+strlen(errormessage), " %.4f", sec_t[v]);
-	}
-	sprintf (sec_errormessage, "bad target =%s", errormessage);
-}
-void
-sec_sprintf (c, array)
-char	*c;
-double	array[];
-{
-	int	m;
-	int	strlen();
-	*c = 0;
-	for (m = 0; m < M; m++) {
-	    sprintf (c+strlen(c), " %12.6f", array[m]);
-	}
-}
-void
-sec_sprintfu (c, array, array0)
-char	*c;
-double	array[];
-double	array0[];
-{
-	int	m;
-	int	strlen();
-	*c = 0;
-	for (m = 0; m < M; m++) {
-	    sprintf (c+strlen(c), " %d", array[m] != array0[m]);
-	    array0[m] = array[m];
-	}
-}
-void
-sec_log_servc ()
-{
-	char	c[100];
-	double	readmotorcurrent ();
-	sprintf (c, "%12.6f %12.6f %12.6f", readmotorcurrent (4),
-	  readmotorcurrent (2), readmotorcurrent (3));
-	sec_logger ("serv_c", c);
-}
-void
-sec_log ()
-{
-	char	c[100];
-	int	strlen();
-        double cos();
-	sprintf (c, "%12.6f %12.6f %12.6f %12.6f %12.6f",
-	  sec_elevation*57.29577951,
-	  cos(sec_elevation),
-	  sec_temperature,
-	  sec_azimuth*57.29577951,
-	  sec_derotator*57.2957795);
-	sec_logger ("sec_el", c);
-	sec_sprintf (c, sec_u);
-	sec_sprintfu (c+strlen(c), sec_u, sec_u0);
-	sec_logger ("sec_u", c);
-	sec_sprintf (c, sec_c);
-	sec_logger ("sec_c", c);
-	sec_sprintf (c, sec_z);
-	sec_logger ("sec_z", c);
-	sec_sprintf (c, sec_m);
-	sec_logger ("sec_m", c);
-	sec_sprintf (c, sec_t);
-	sec_logger ("sec_t", c);
-	sec_sprintf (c, sec_v);
-	sec_logger ("sec_v", c);
-	sec_sprintf (c, sec_p);
-	sec_logger ("sec_p", c);
-	sec_log_servc ();
-}
-void
-sec_loop_init ()
-{
-	void	getSensors();
-        int     m;
-	getSensors ();
-	sec_calcp ();
-	for (m = 0; m < M; m++) {
-            sec_u[m] = sec_p[m];
-            sec_u0[m] = sec_u[m];
-	}
-	sec_log ();
-}
-void
-sec_loop (timedout)
-int	timedout;	/* !0 if triggered by timer */
-{
-	int	n;
-	int	m;
-	int	big;
-	void	strcpy();
-	void	getSensors();
-	if (!timedout || ((sec_autofocus||sec_autocoll) && !sec_telslewing())) {
-	    sec_working = 1;
-	    sec_update_corr ();
-	    sec_calct ();
-	    if (sec_checkVoltsOK (sec_t)) {
-		getSensors ();
-		sec_calcp ();
-		for (n = 0; n < sec_max_mloops; n++) {
-		    big = 0;
-		    for (m = 0; m < M; m++) {
-			big |= abs(sec_m[m]-sec_z[m]-sec_p[m])
-			  > sec_threshold[m];
-		    }
-		    if (!big)
-			break;
-		    strcpy (sec_errormessage, "moving");
-		    movev (sec_t);
-		    strcpy (sec_errormessage, "");
-		    getSensors ();
-		    sec_calcp ();
-		}
-		if (sec_checkMove ()) {
-		    vme8_kill ();
-		}
-	    } else {
-		sec_voltsNotOK ();
-		sec_calcp ();
-	    }
-	    sec_log ();
-	    sec_working = 0;
-	}
-}
-void
-sec_printf (id, array)
-char	*id;
-double	array[];
-{
-	int	m;
-	printf ("%s:", id);
-	for (m = 0; m < M; m++) {
-	    printf (" %12.6f", array[m]);
-	}
-	printf ("\n");
-}
-void
-sec_printd (id, array)
-char	*id;
-int	array[];
-{
-	int	m;
-	printf ("%s:", id);
-	for (m = 0; m < M; m++) {
-	    printf (" %12d", array[m]);
-	}
-	printf ("\n");
-}
-extern	int	sec_s[];
-void
-sec_print ()
-{
-	printf ("%s\n", sec_errormessage);
-	sec_printf ("z", sec_z);
-	sec_printf ("u", sec_u);
-	sec_printf ("c", sec_c);
-	sec_printf ("m", sec_m);
-	sec_printf ("t", sec_t);
-	sec_printd ("s", sec_s);
-	sec_printf ("v", sec_v);
-	sec_printf ("p", sec_p);
-	sec_errormessage[0] = 0;
-}
-void
-telx_log_servc ()
-{
-	sec_log_servc ();
-}
-void
-telx_lvdts ()
-{
-	int	v;
-	char	errormessage[100];
-	int	strlen();
-	errormessage[0] = 0;
-	for (v = 0; v < V; v++) {
-	    sprintf (errormessage+strlen(errormessage), " %.4f", sec_v[v]);
-	}
-	sprintf (sec_errormessage, "lvdts =%s", errormessage);
-}
-void
-telx_rlvdts ()
-{
-	void	getSensors();
-	getSensors ();
-	telx_lvdts ();
-	sec_calcp ();
-	sec_log ();
-}
-void
-plvdts ()
-{
-	void	getSensors();
-	int	v;
-	getSensors ();
-	telx_lvdts ();
-	sec_calcp ();
-	printf ("lvdts =");
-	for (v = 0; v < V; v++) {
-	    printf (" %.4f", sec_v[v]);
-	}
-	printf ("\n");
-}
-void
-pmcurr ()
-{
-	double	readmotorcurrent ();
-	printf ("%12.6f %12.6f %12.6f\n", readmotorcurrent (4),
-	  readmotorcurrent (2), readmotorcurrent (3));
-}
-int	telvatt_telfocustimeout = 70;
-int	telvatt_telfocuscmdlevel;
-void
-telvatt_telfocus (c)
-char	*c;
-{
-	void	sleep();
-	void	secondary_trigger();
-	int	sscanf();
-	double	focus;
-	int	timeout = telvatt_telfocustimeout;
-	if ((telvatt_telfocuscmdlevel > 0) && (sscanf(c,"%lf",&focus) == 1)) {
-	    sec_u[FOCUS] = focus;
-	    sec_working = 1;
-	    secondary_trigger();
-	    while (sec_working && timeout--)
-		sleep (1);
-	}
-	sprintf (c, "%.2f", sec_u[FOCUS]);
-}
-#ifdef OUTOFDATE
-/* This is an arbitrary zero point for the user motions.
- *
- * It was derived using Tom T.'s goodplace lvdt values
- * and multiplying by the v2m matrix.
- * { 4.348, -6.021, 5.151, -5.925, 3.126, -5.148 }
-double  sec_z[M] = {97.0968554,-46.2452714,1763.9614446,
-.6180699,20.2980418,-633.5096204};
- * new values 3/25/97 via cromwell->nelson->harvey
-double  sec_z[M] = {-103.1331446,38.2247286,1763.9614446,
-.2880699,-0.5719582,-658.7596204};
-double  sec_z0[M] = {-103.1331446,38.2247286,1763.9614446,
-.2880699,-0.5719582,-658.7596204};
- * new values 5/30/97
- */
-double  sec_z[M] = {-273.5316558,168.0022732,1962.0991461,
-.3139608,-168.5847471,-427.0699187};
-double  sec_z0[M] = {-273.5316558,168.0022732,1962.0991461,
-.3139608,-168.5847471,-427.0699187};
-/* Steve West's original matrix
-{0.0029680,   0.0051070, -0.0001555, -0.0000931, -0.0001510, -0.0069780},
-{0.0016000,  -0.0007957, -0.0033810, -0.0033320, -0.0058000, -0.0003111},
-{0.0029300,  -0.0050660, -0.0000175, -0.0000407,  0.0000389, -0.0069420},
-{-0.001475,  -0.0010590, -0.0032270, -0.0031640,  0.0057680, -0.0004334},
-{-0.005346,  -0.0000617,  0.0000176,  0.0000674,  0.0001066, -0.0063050},
-{-0.0001785,  0.0017840, -0.0034270,  0.0065690,  0.0000873, -0.0002048}
- */
-/* The following matrix of user motions (across) to lvdt voltages (down)
- * already has the following correction applied.
- */
-/* There is correction in dtx and dty when applying focus. There are
- * 2 reasons: the positioner is mounted slightly tilted wrt to
- * the primary axis, and the primary comes up on its supports
- * slightly differently each time causing a small but variable
- * tilt term.  For now, this correction approximates the constant
- * term for mounting misalignment and the tilt for which the primary supports
- * usually produce.
- * dtxSlope = -0.1166667;
- * dtySlope = 0.0166667;
- */
-double sec_m2v[V][M] = {
-{ 0.0029680,  0.0051070, -0.0001555, -0.0000931, -0.0001510, -0.0072391, },
-{ 0.0016000, -0.0007957, -0.0033810, -0.0033320, -0.0058000, -0.0005110, },
-{ 0.0029300, -0.0050660, -0.0000175, -0.0000407,  0.0000389, -0.0073683, },
-{-0.0014750, -0.0010590, -0.0032270, -0.0031640,  0.0057680, -0.0002790, },
-{-0.0053460, -0.0000617,  0.0000176,  0.0000674,  0.0001066, -0.0056823, },
-{-0.0001785,  0.0017840, -0.0034270,  0.0065690,  0.0000873, -0.0001542, },
-};
-/* The following matrix of lvdt voltages (across) to user motions (down)
- * is the inversion of the above.
- */
-double sec_v2m[M][V] = {
-{ 49.8854752,  -3.5532007, 52.6613884, -0.1987483,-131.5227203,  0.4847288, },
-{ 98.9533844,  -3.2159302,-97.4382248,  0.0154418,   0.5947783, -0.8311595, },
-{  3.4616475,-100.5291367,  5.1929212,-99.6347046,   5.4746842,-98.9561081, },
-{-25.0618954, -50.5131378, 29.3149300,-53.1427727,  -1.6702307,100.8553619, },
-{ 16.7931862, -85.4085312, 12.2465229, 88.4728546, -33.9353409, -0.0462707, },
-{-47.9788094,   0.8650309,-47.8929062,  0.9076155, -52.8920441,  0.4418987, },
-};
-/* The following matrix of (T,L) corrections (across)
- * {focus_delta_temperature,       focus_delta_sin_elevation,
- *  collimation_delta_temperature, collimation_delta_sin_elevation}
- * to user motion corrections (down)
- *
- * These were derived from Cromwell's original (June 10, 1996) coefficients
- * for ELCdv and TCdv by multiplying by v2m.
- * 0.2230000    0.0914000   -0.1024000   -0.0426000    0.0031000    0.1702000
- * 0.2148000    0.5129000    0.0363000    0.1717000   -0.0712000    0.4409000
- */
-double sec_c2m[M][C] = {
-{  0.0,    0.0,  20.3485814,  5.0904193, },
-{  0.0,    0.0,  15.6625737, 31.6100656, },
-{  0.0,    0.0,-111.7561536,-21.5290905, },
-{  0.0,    0.0,   5.2340839,  6.2167347, },
-{  0.0,    0.0, -22.1677258, -9.1975216, },
-{ 15.0, -120.0,  -7.4841021, -5.8433957, },
-};
-/* values as of 10/6/97
- */
-double sec_c2m[M][C] = {
-{  0.0,    0.0,  21.2217299,  5.7721492, },
-{  0.0,    0.0,  15.5378383, 31.5126765, },
-{  0.0,    0.0,-111.7561535,-21.5290909, },
-{  0.0,    0.0,   5.2340894,  6.2167361, },
-{  0.0,    0.0, -22.1677345, -9.1975223, },
-{ 15.0, -120.0,  -7.4840994, -5.8433935, },
-};
-void
-sec_update_cromwellB (v0, v1, v2, v3, v4, v5)
-double	v0;
-double	v1;
-double	v2;
-double	v3;
-double	v4;
-double	v5;
-{
-	int	v, m;
-	double vv[V];
-	double mm[M];
-	vv[0] = v0;
-	vv[1] = v1;
-	vv[2] = v2;
-	vv[3] = v3;
-	vv[4] = v4;
-	vv[5] = v5;
-	for (m = 0; m < M; m++) {
-	    mm[m] = 0.0;
-	    for (v = 0; v < V; v++) {
-		mm[m] += sec_v2m[m][v]*vv[v];
-	    }
-	    sec_c2m[m][CLC] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_cromwellB0 ()
-{
-	sec_update_cromwellB (0.2230000,0.0914000,-0.1024000,
-	  -0.0426000,0.0031000,0.1702000);
-}
-void
-sec_update_cromwellC (v0, v1, v2, v3, v4, v5)
-double	v0;
-double	v1;
-double	v2;
-double	v3;
-double	v4;
-double	v5;
-{
-	int	v, m;
-	double vv[V];
-	double mm[M];
-	vv[0] = v0;
-	vv[1] = v1;
-	vv[2] = v2;
-	vv[3] = v3;
-	vv[4] = v4;
-	vv[5] = v5;
-	for (m = 0; m < M; m++) {
-	    mm[m] = 0.0;
-	    for (v = 0; v < V; v++) {
-		mm[m] += sec_v2m[m][v]*vv[v];
-	    }
-	    sec_c2m[m][CTC] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_cromwellC0 ()
-{
-	sec_update_cromwellC (0.2148000,0.5129000,0.0363000,
-.1717000,-0.0712000,0.44090000);
-}
-void
-sec_update_cromwellZ (v0, v1, v2, v3, v4, v5)
-double	v0;
-double	v1;
-double	v2;
-double	v3;
-double	v4;
-double	v5;
-{
-	int	v, m;
-	double vv[V];
-	double mm[M];
-	vv[0] = v0;
-	vv[1] = v1;
-	vv[2] = v2;
-	vv[3] = v3;
-	vv[4] = v4;
-	vv[5] = v5;
-	for (m = 0; m < M; m++) {
-	    mm[m] = 0.0;
-	    for (v = 0; v < V; v++) {
-		mm[m] += sec_v2m[m][v]*vv[v];
-	    }
-	    sec_z[m] = mm[m];
-	    sec_z0[m] = mm[m];
-	    printf ("%.7f\n", mm[m]);
-	}
-}
-void
-sec_update_cromwellZ0 ()
-{
-	sec_update_cromwellZ (0.0,0.0,0.0,
-.0,0.0,0.0);
-}
-/* auto variables */
-/* focus versus temperature */
-double  sec_ft0;	/* starting point */
-double  sec_ft1;	/* last measurement */
-double  sec_ft2;	/* measurement at last adjustment */
-double  sec_fdt0;	/* accumulated delta */
-double  sec_fdt;	/* delta */
-/* focus versus elevation */
-double  sec_fl0;
-double  sec_fl1;
-double  sec_fl2;
-double  sec_fdsl0;
-double  sec_fdsl;
-/* collimation versus temperature */
-double  sec_ct0;
-double  sec_ct1;
-double  sec_ct2;
-double  sec_cdt0;
-double  sec_cdt;
-/* collimation versus elevation */
-double  sec_cl0;
-double  sec_cl1;
-double  sec_cl2;
-double  sec_cdsl0;
-double  sec_cdsl;
-#endif
-</code>

MOON

User Tools

Site Tools

Differences

Page Tools