Tom, Ibrahim, Oli

Yesterday we made a lot of progress on the BBSS, specifically on the QOSEMs.

First, we went around between all the QOSEMs and worked on centering in the X and Y directions. Once we got everything within +/-1000 counts, we made sure the cam adjusters were all tightened. We did this with the constant current switched ON for all the QOSEMs at the satamp, and with the whitening OFF on the satamp but had the compensation ON in medm.

Then we left and were ready to try damping and transfer functions.

We switched the constant current OFF for the QOSEMs now, since we wanted the satamp to be able to adjust the currrent to keep it the same. We also ended up needing to turn the whitening compensation OFF in the model to be able to see the actual amount of movement since it had also been OFF at the satamp.

While trying to damp, we found that we needed to swap the sign of the damping gains to get damping to work. We believe this is because these QOSEM coils, which were made out of older BOSEMs, had the opposite wires from normal connected up, leading to the current flowing the opposite way than expected.

We also needed to lower some of the damping gains.

I've attached a screenshot of how our damping filter bank looks now, but it seems to be working well!