SRMD Status     BKT  03-Jan-00

Changed:

1) Got rid of mode bit in Tbl2Act.c, Table.alt.

2) Restored original poppet gains to Poppet.c.

3) Added daq rates: 10Hz, 1Hz (constants.alt).  Changed
	default rate index from 5 to 7 in VirtualMachine.alt
	method init to match.

4) Inverted bearing profile offset in Bearing.c.

5) Added 4 more digital meters
	(vm.c, VirtualMachine.alt, aadefine.alt, MainPanel.alt).
   REMEMBER:  Delete window positions from all settings files!

6) Because of added processor burden on dsp 1 due to four extra
	digital meters, reduced MAXGLITCH in vm.c from 3 to 2.
	No need to change the value 3 in Calibration.cal, because
	Median.c will simply clip it.
 
7) Added user force limit detectors on lat, long, vert
	(vm.c, LinChannel.alt, aadefine.alt).
	Used names "limFFbk", which were already used for force
	balance, so renamed force balance symbol from "F" to "FB"
	(FChannel.alt).

8) Split single mass into horizontal and vertical masses
	(ObsPanel.alt, VirtualMachine.alt).
   REMEMBER:  Delete "mass" from all settings files!

9) Integration is no longer disabled on program run
	(MainPanel.alt).

10) Output of compression ctlr scaled to account for units
	(CompChannel.alt, VirtualMachine.alt).

11) When running individual fgs, all fgs are placed into a stopped
	state when master span reaches zero
	(MainPanel.alt method checkStop)

12) File translation menu disabled if hydraulics on (long file
	translation causes watchdog trip) (MainPanel.alt methods
	changePrivilege, pilotOff, checkPilotOn).

13) Reworked main panel hydraulic button activation to enable main
	hi/lo when pressurized, but not allow main pump to be turned
	off when pressurized.

14) A confirmation dialog is thrown before dumping main pressure with
	the platen off the floor.

15) Horizontal actuator stroke limits are restricted by 2 inches due
	to corner clearance problem (HChannel.alt method setUnits).
	Percentage was used (46 in / 48 in) for units independence.

16) Allow integrators to be on in main low pressure, as per explicit
	request by both Marty and Gianmario.  MainPanel methods
	pilotOn and mainLo:  removed "vm.holdAction.doit".

17) Vert actuator forces were being summed as though they are pointed
	straight up, when in fact they are normal to the table.  For
	2 degrees pitch and full vertical load, the horizontal force
	component can be up to 10 percent of horizontal capacity
	(12M lbs * sin(2 deg) = 12M * 0.035 = 420K lbs; long force
	capacity is 4.7M lbs.  Corrected this by changing normalized
	actuator vectors for vertical actuators to be normal to the
	table surface (Act2Tbl.c, Test.c, Test.m, positT2A.m).


Resolved issues:

1) Jean thought she saw that the data recorder time stamp was
	different from the actual time of recording by as much as
	two hours.  Verified by experiment that this cannot be the
	case; the data recorder time stamps the file in the header
	with the time at the start of recording, not the file creation
	time or end of recording time.

2) Cannot provide uncorrected linear force feedbacks because more signals
	will then have to be passed from dsp 2 to dsp 1.

3) Cannot provide linear acceleration feedbacks corrected for rotation, as
	it requires extensive modification of Act2Tbl.c to add acceleration
	transformation, and is beyond the scope of phase 1.


Unresolved issues:

1) Crosstalk:  Try integral action (can try immediately), tighter tuning
	(can try only after squawk is resolved).

2) Accel sign inversion:  Probably just need to invert conditioner.

3) Accel 60Hz noise?  Have EEs look at grounding.


