Hugh, Jim

Short version: Control loops have been installed on HAM1 HEPI. It's a hack, it could get ugly. Or it could totally work.

Since unlocking HAM1 HEPI was discussed, Hugh and I decided to see if we could quickly run through the commissioning scripts. I tried to look at the transfer functions we took in June of 2013, but only got errors. When I look for the mat files, I found that the data have never been collected. Hugh reported having troubles, so we figured that our data collection scripts must have broken and Hugh was never able to get help to fix the problem. For now, we've copied the isolation filters from HAM2 HEPI (the HEPI contollers for HAM are all generic, should be okay). There other things missing: blend filters (which are 1  for IPS and 0 for the L4C, anyway), actuator symmetrization filters (which are just gains that should be close to 1) and L4C symmetrization filters (not needed). I've also installed the Z sensor correction filter, like we use on the BSC HEPI, which might allow us to get some inertial isolation between .1 and 1 hz. It would be best to have data to at least compare transfer functions to HAM2, but maybe we'll get lucky.