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Commit fc2c1f1b authored by Giuseppe Carboni's avatar Giuseppe Carboni
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Bypassed gregorian cover closing when parking the minor servos

parent 864f5afa
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...@@ -357,7 +357,8 @@ void SRTMinorServoBossCore::park() ...@@ -357,7 +357,8 @@ void SRTMinorServoBossCore::park()
m_current_servos.clear(); m_current_servos.clear();
m_current_tracking_servos.clear(); m_current_tracking_servos.clear();
try // Skipping this because of the cover not always engaging the limit switch
/*try
{ {
// Send the STOW command to close the gregorian cover // Send the STOW command to close the gregorian cover
if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput()) if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput())
...@@ -376,7 +377,7 @@ void SRTMinorServoBossCore::park() ...@@ -376,7 +377,7 @@ void SRTMinorServoBossCore::park()
ex.setReason("Error while sending the STOW command to the gregorian cover."); ex.setReason("Error while sending the STOW command to the gregorian cover.");
ex.log(LM_DEBUG); ex.log(LM_DEBUG);
throw ex.getParkingErrorEx(); throw ex.getParkingErrorEx();
} }*/
// Send the STOP command to all the servos // Send the STOP command to all the servos
for(const auto& [servo_name, servo] : m_servos) for(const auto& [servo_name, servo] : m_servos)
......
...@@ -60,7 +60,9 @@ void SRTMinorServoParkThread::runLoop() ...@@ -60,7 +60,9 @@ void SRTMinorServoParkThread::runLoop()
case 0: case 0:
{ {
// First we check if the gregorian cover has closed // First we check if the gregorian cover has closed
bool completed = m_core.m_status.getGregorianCoverPosition() == COVER_STATUS_CLOSED; // TEMPORARY: we skip the gregorian cover closing, therefore we don't check
//bool completed = m_core.m_status.getGregorianCoverPosition() == COVER_STATUS_CLOSED;
bool completed = true;
// Then we cycle through all the servos and make sure their operative mode is STOP // Then we cycle through all the servos and make sure their operative mode is STOP
if(completed && std::all_of(m_core.m_servos.begin(), m_core.m_servos.end(), [](const std::pair<std::string, SRTBaseMinorServo_ptr>& servo) -> bool if(completed && std::all_of(m_core.m_servos.begin(), m_core.m_servos.end(), [](const std::pair<std::string, SRTBaseMinorServo_ptr>& servo) -> bool
......
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