TJ, Jim

This afternoon TJ walked me through making a guardian node for the Compact BRS in the Biergarten. This BRS is only destined to be used for Newtonian Noise studies, but has been drifting a bit since install. Up to today, the monitoring system has been Krishna watching from off-site, then sending me an email when the PZTs go out of range, if I don't catch it before then. Now there is a guardian that monitors the PZT readouts and recenters them automatically.

This is not a critical node, so if CDS needs to kill the node for any reason, we can do that, but it's nice having BRS babysitting automated. I've added this node to the Guardian Overview, in the top right above the TCS nodes, but that screen is getting pretty busy. I've also added/commit the guardian code to the userapps/isi/h1/guardian repository.

The node has 3 states:

1. INIT which returns to RUN, 

2. RUN which monitors the outputs to the PZTs and

3. RECENTER, which ramps off the damping, then the outputs of the PZTs, clears the histories of the PZT CTRL filters, ramps the CTRL gains on, then restores the damping and returns to RUN.