F2-OI: Discrepancy between OT Patrol field and valid TCS demands
Opened this issue · 1 comments
It appears that the F2OI patrol field displayed by the OT is flipped in the X-axis.
Targets selected in the lower area, yield to TCS Demands with negative y-coordinates (for more details, see FR-41353 comment)
According to the following line in the code
The lower area has a larger radius, but according to the mechanical specs, the larger radius area covers the +Y coordinates.
I think the Arc should start at 0
degrees and cover 180
degrees
I was wrong. The patrol field is defined correctly following the specs in the pdf found in REL-285. The issue is that F2OPC defines the following constraint as well
xTarget = (xTarget - xOffset)*PROBE_POSITION_SCALING_FACTOR;
yTarget = -(yTarget - yOffset)*PROBE_POSITION_SCALING_FACTOR;
/*
* Convert from instrument coordinates to base coordinates
* which use the axis of rotation of the base arm as the origin.
* First subtract the {IC} to {B} origin offsets then negate since
* both X & Y axis go in opposite directions compared to {IC}.
*/
x_prime = -(xTarget - IC_X);
y_prime = -(yTarget - IC_Y);
/*
* Compute distance from the target to the axis of base arm.
*/
r = sqrt(SQR(x_prime) + SQR(y_prime));
/* If the target is too far from (or too close to) the axis of
* the base arm, then the target cannot be reached by the
* probe.
*/
if (r > B_X + P_X)
{
return -1; /* cannot reach with both axes fully extended */
}
else if (r < P_X - B_X)
{
return -1; /* cannot reach with pickoff folded back completely */
}
This effectively adds another constraint to the patrol field. Please refer to the the fault report posted in the original comment for a deeper analysis.