I have turned off the fine adjust (H1:PSL-ROTATIONSTAGE_FINEADJUST) for the PSL rotation stage because it was causing a sudden change of power at the end of power changes. This was worse at high powers, and would change the power almost immediately by almost a watt (see alog53068). Wih this off, I turned the bootstrapping turned back on.

Searching for home the other week seemed to help slightly with reducing the size of this rot. stage "snap", and I'm sure getting a new calibration would also help, but the sudden change in the rot. stage is not desired. The fine adjust angle set in H1:PSL-ROTATIONSTAGE_ANGLE_ADJUST, doesn't seem to be accurate either. This is set to 0.005 deg, but looking at Sheila's alog linked above, it would move by ~0.8 deg. I added into the LASER_PWR node a call to make sure that this feature is off.

I also testing a timer to see if waiting a second longer between the initial call and the bootstrapping call would help anything. It didn't help with this rot. stage "snapping" at all when the fine adjust was on, and with the fine adjust off it didn't make a difference. So I left out a timer between the calls.

Attachment 1 - Fine adjust on. Small step in the encoder value seen at the end of the bootstrapping. This is a small step compared to Sheila's alog, but it still shows the sudden movement.

Attachment 2 - Fine Adjust off. No step seen at the end of the bootstrapping.