From 27375f5b4858cd514a5a91b0d1a70e8b07521aa3 Mon Sep 17 00:00:00 2001 From: Dhivya S Date: Sat, 2 Oct 2021 00:24:09 +0530 Subject: [PATCH] Update TJET_LAW.agc --- Luminary099/TJET_LAW.agc | 290 +++++++++++++++++++-------------------- 1 file changed, 145 insertions(+), 145 deletions(-) diff --git a/Luminary099/TJET_LAW.agc b/Luminary099/TJET_LAW.agc index f4e2ff7..95a2f3a 100644 --- a/Luminary099/TJET_LAW.agc +++ b/Luminary099/TJET_LAW.agc @@ -45,7 +45,7 @@ # # THE SIGN OF THE REQUIRED ROTATION IS CARRIED THROUGH TJETLAW AS ROTSENSE AND IS FINALLY APPLIED TO TJET JUST # PREVIOUS TO ITS STORAGE IN THE LOCATION CORRESPONDING TO THE AXIS (TJP, TJU, OR TJV). THE NUMBER OF JETS THAT -# TJETLAW ASSUMES WILL BE USED AS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS +# TJETLAW ASSUMES WILL BE USED IS INDICATED BY THE SETTING OF NUMBERT FOR THE U- OR V-AXIS. TWO JETS ARE ALWAYS # ASSUMED FOR THE P-AXIS ALTHOUGH FOUR JETS WILL BE FIRED WHEN FIREFCT IS MORE NEGATIVE THAN -4.0 DEGREES # (FIREFCT IS THE DISTANCE TO A SWITCH CURVE IN THE PHASE PLANE) AND A LONG FIRING IS CALLED FOR. # @@ -70,7 +70,7 @@ # TJP, -U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3). # # DEBRIS: -# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTEMP1-4. +# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTRBG-4. # # ALARM: NONE @@ -86,49 +86,49 @@ TJETLAW EXTEND # SAVE Q FOR RETURN. # SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT - INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U - CAF AXISDIFF # AXISDIFF(0)=0 - TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U + INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BET P AND U + CAF AXISDIFF # AXISDIFF(0)=0 + TS ADRSDIF1 # AXISDIFF(+1)=NO OF LOCATIONS BET V AND U - CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES - EXTEND # THAT ALLOW USE OF SAME CODING AS FOR - BZMF NEGEDOT # POSITIVE EDOT. - CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE - TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS. - CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS - TCF SETSENSE # INITIALIZED POSITIVE. + CAE EDOT # IF EDOT NEGATIVE, PICK UP SET OF VALUES + EXTEND # THAT ALLOW USE OF SAME CODING AS FOR + BZMF NEGEDOT # POSITIVE EDOT. + CAE ADRSDIF1 # SET A SECOND INDEXER WHICH MAY BE + TS ADRSDIF2 # MODIFIED BY A DECISION FOR MAX JETS. + CAF SENSOR # FOR POSITIVE EDOT, ROTSENSE IS + TCF SETSENSE # INITIALIZED POSITIVE. -NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING - TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS: - CS EDOT # 1. COMPLEMENT E AND EDOT. - TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE - CAF BIT1 # (REVERSED LATER IF NECESSARY). - ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT - TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED. - CS SENSOR -SETSENSE TS ROTSENSE +NEGEDOT CS E # IN ORDER FOR NEG EDOT CASE TO USE CODING + TS E # OF POS EDOT, MUST MODIFY AS FOLLOWS: + CS EDOT # 1. COMPLEMENT E AND EDOT. + TS EDOT # 2. SET SENSE OF ROTATION TO NEGATIVE + CAF BIT1 # (REVERSED LATER IF NECESSARY). + ADS ADRSDIF1 # 3. INCREMENT INDEXERS BY ONE SO THAT + TS ADRSDIF2 # THE PROPER PARAMETERS ARE ACCESSED. + CS SENSOR +SETSENSE TS ROTSENSE # TEST MAGNITUDE OF E (ATTITUDE ERROR, SINGLE-PRECISION, SCALED AT PI RADIANS): # IF GREATER THAN (OR EQUAL TO) PI/16 RADIANS, GO TO THE SIMPLIFIED TJET ROUTINE. -# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4 +# IF LESS THAN PI/16 RADIANS, RESCALE TO PI/4. - CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS + CAE E # PICK UP ATTITUDE ERROR FOR THIS AXIS EXTEND - MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS - CCS A # ZERO, RESCALE AND TEST EDOT. - TCF RUFLAW2 - TCF SCALEE - TCF RUFLAW1 -SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE - EXTEND # IT TO PI/4 AND SAVE IT. - MP L - TS E + MP BIT5 # SHIFT RIGHT TEN BITS: IF A-REGISTER IS + CCS A # ZERO, RESCALE AND TEST EDOT. + TCF RUFLAW2 + TCF SCALEE + TCF RUFLAW1 +SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE + EXTEND # IT TO PI/4 AND SAVE IT. + MP L + TS E # TEST MAGNITUDE OF EDOT (ERROR RATE SCALED AT PI/4 RADIANS/SECOND) # IF GREATER THAN (OR EQUAL TO) PI/32 RADIANS/SECOND, GO TO THE SIMPLIFIED TJET ROUTINE. # IF LESS THAN PI/32 RADIANS/SECOND, THEN RESCALE TO PI/32 RADIANS/SECOND. - CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE + CAE EDOT # PICK UP SINGLE-PRECISION ERROR-RATE # Page 1462 EXTEND # FOR THIS AXIS= MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS @@ -138,13 +138,13 @@ SCALEE CAF BIT13 # ERROR IS IN L SCALED AT PI/16. RESCALE # *** FINELAW STARTS HERE *** -SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND. +SCALEDOT LXCH EDOT # EDOT IS SCALED AT PI/32 RADIANS/SECOND. CAE EDOT # COMPUTE (EDOT)(EDOT) EXTEND SQUARE # PRODUCT SCALED AT PI(2)/2(10) RAD/SEC. EXTEND - MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE TO EDOTSQ + MP BIT13 # SHIFT RIGHT TWO BITS TO RESCALE EDOTSQ TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2). ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE @@ -152,107 +152,107 @@ ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE TCF +2 AD -3DEG EXTEND - INDEX ADRSDIF1 - SU FIREDB + INDEX ADRSDIF1 + SU FIREDB EXTEND - BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED? -MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND + BZMF SENSTEST # IF NOT: ARE UNBALANCED JETS PREFERRED? +MAXJETS CAF TWO # IF YES: INCREMENT ADDRESS LOCATOR AND ADS ADRSDIF2 # SET SWITCH FOR JET SELECT LOGIC TO 4. CAF FOUR # (ALWAYS DO THIS FOR P-AXIS) TCF TJCALC -SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS. +SENSTEST CCS SENSETYP # DOES TRANSLATION PREFER MIN JETS. TCF TJCALC # YES. USE MIN-JET PARAMETERS TCF MAXJETS # NO. GET THE MAX-JET PARAMETERS. -TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT. +TJCALC TS NUMBERT # SET TO +0,1,4 FOR (U,V-AXES) JET SELECT. # BEGINNING OF TJET CALCULATIONS: - CS EDOTSQ # SCALED AT PI(2)/2(8). + CS EDOTSQ # SCALED AT PI(2)/2(8). EXTEND - INDEX ADRSDIF2 + INDEX ADRSDIF2 MP 1/ANET1 # .5/ACC SCALED AT 2(6)/PI SEC(2)/RADIAN. - INDEX ADRSDIF1 - AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN. + INDEX ADRSDIF1 + AD FIREDB # DEADBAND SCALED AT PI/4 RADIAN. EXTEND - SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN. - TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN. + SU E # ATTITUDE ERROR SCALED AT PI/4 RADIAN. + TS FIREFCT # -E-.5(EDOTSQ)/ACC-DB AT PI/4 RADIAN. EXTEND - BZMF ZON1,2,3 + BZMF ZON1,2,3 -ZONE4,5 INDEX ADRSDIF1 +ZONE4,5 INDEX ADRSDIF1 CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE # Page 1463 EXTEND # ACC = MAX(AMIN, AOS-). MP EDOTSQ # SCALED AT PI/2(8). - AD E # SCALED AT PI/4 - INDEX ADRSDIF1 - AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT. + AD E # SCALED AT PI/4 + INDEX ADRSDIF1 + AD COASTDB # SCALED AT PI/4 POS. FOR NEG. INTERCEPT. EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN. - BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET. - # IF FUNCTION POSITIVE, IN ZONE 4. + BZMF ZONE5 # IF FUNCTION NEGATIVE, FIND TJET. + # IF FUNCTION POSITIVE, IN ZONE 4. # ZONE 4 IS THE COAST REGION. HOWEVER, IF THE JETS ARE ON AND DRIVING TOWARD # A. THE AXIS WITHIN + OR - (DB + FLAT) FOR DRIFTING FLIGHT, OR # B. THE USUAL TARGET PARABOLA FOR POWERED FLIGHT # THEN THE THRUSTERS ARE KEPT ON. -ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO +ZONE4 INDEX AXISCTR # IS THE CURRENT VALUE IN TJET NON-ZERO CS TJETU # WITH SENSE OPPOSITE TO EDOT, EXTEND # (I.E., ARE JETS ON AND FIRING TOWARD MP ROTSENSE # THE DESIRABLE STATE). EXTEND - BZMF COASTTJ # NO. COAST. + BZMF COASTTJ # NO. COAST. JETSON CCS FLAT # YES. IS THIS DRIFTING OR POWERED FLIGHT? TCF DRIFT/ON # DRIFTING. GO MAKE FURTHER TEST. CS FIREFCT # POWERED (OR ULLAGE). CAN TARGET PARABOLA - INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE + INDEX ADRSDIF1 # BE REACHED FROM THIS POINT IN THE AD AXISDIST # PHASE PLANE? EXTEND - BZMF COASTTJ # NO. SET TJET = 0. + BZMF COASTTJ # NO. SET TJET = 0. TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 1 CAE FIREFCT # AFTER COMPUTING THE REQUIRED TCF ZONE1 # PARAMETERS. -DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM +DRIFT/ON INDEX ADRSDIF1 # CAN TARGET STRIP OF AXIS BE REACHED FROM CS FIREDB # THIS POINT IN THE PHASE PLANE? DOUBLE AD FIREFCT EXTEND - BZMF +3 -COASTTJ CAF ZERO # NO. SET TJET = 0. + BZMF +3 +COASTTJ CAF ZERO # NO. SET TJET = 0. TCF RETURNTJ TC Z123COMP # YES. CALCULATE TJET AS THOUGH IN ZONE 2 TCF ZONE2,3 # OR 3 AFTER COMPUTING REQUIRED VALUES. -ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L. +ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L. CCS ROTSENSE # MODIFY ADRSDIF2 FOR ACCESSING 1/ANET2 - TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP - TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE - CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE. + TCF +4 # AND ACCFCTZ5, WHICH MUST BE PICKED UP + TC CCSHOLE # FROM THE NEXT LOWER REGISTER IF THE + CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE. # Page 1464 ADS ADRSDIF2 +4 CAE L EXTEND - INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON - MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE - DDOUBL # ABASED. + INDEX ADRSDIF2 # TTOAXIS AND HH ARE THE PARAMETERS UPON + MP ACCFCTZ5 # WHICH THE APPROXIMATIONS TO TJET ARE + DDOUBL # BASED. DDOUBL - DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). - INDEX ADRSDIF2 - CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD. + DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). + INDEX ADRSDIF2 + CAE 1/ANET2 # SCALED AT 2(7)/PI SEC(2)/RAD. EXTEND - MP EDOT # SCALED AT PI/2(5) - TS TTOAXIS # SCALED AT 4 SEC. + MP EDOT # SCALED AT PI/2(5) + TS TTOAXIS # SCALED AT 4 SEC. # TEST WHETHER TJET GREATER THAN 50 MSEC. EXTEND MP -.05AT2 # H - .05 TTOAXIS - .00125 G.T. ZERO - AD HH # (SCALED AT 8 SEC(2) ). + AD HH # (SCALED AT 8 SEC(2) ). AD NEG2 EXTEND BZMF FORMULA1 @@ -262,55 +262,55 @@ ZONE5 TS L # TEMPORARILY STORE FUNCTION IN L. CAE TTOAXIS EXTEND MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO - AD HH # (SCALED AT 8 SEC(2) ) + AD HH # (SCALED AT 8 SEC(2) ) AD -.0112A8 EXTEND - BZMF FORMULA2 + BZMF FORMULA2 # IF TJET GREATER THAN 150 MSEC, ASSIGN IT VALUE OF 250 MSEC, SINCE THIS # IS ENOUGH TO ASSURE NO SKIP NEXT CSP (100 MSEC). -FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC. +FULLTIME CAF BIT11 # 250 MSEC SCALED AT 4 SEC. # RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED. -RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET +RETURNTJ EXTEND # ALL BRANCHES TERMINATE HERE WITH TJET MP ROTSENSE # (SCALED AT 4 SEC) IN THE ACCUMULATOR. - INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE. + INDEX AXISCTR # ROTSENSE APPLIES SIGN AND CHANGES SCALE. TS TJETU EXTEND - INDEX AXISCTR + INDEX AXISCTR MP ACCSWU # SET SWITCH FOR JET SELECT IF ROTATION IS CAE L EXTEND # IN A SENSE FOR WHICH 1/ACCS HAS FORCED - BZMF +3 # A MAX-JET CALCULATION. + BZMF +3 # A MAX-JET CALCULATION. CAF FOUR # Page 1465 TS NUMBERT - TC HOLDQ # RETURN VIA SAVED Q. + TC HOLDQ # RETURN VIA SAVED Q. # TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC. -FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4. +FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4. AD TTOAXIS # SCALED AT 4 SECONDS. - DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, + DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP - DV HH # DP H AND DIVIDE BY DENOMINATOR. + DV HH # DP H AND DIVIDE BY DENOMINATOR. EXTEND MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC. TCF CHKMINTJ # CHECK THAT TJET IS NOT LESS THAN MINIMUM # TJET = (H + .00375)/(0.1 + TTOAXIS) FOR TJET GREATER THAN 50 MSEC. -FORMULA2 EXTEND +FORMULA2 EXTEND DCA .00375A8 # .00375 SEC(2) SCALED AT 8. - DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT - # BE PRESERVED. + DAS HH # STORE NUMERATOR IN DP H, WHICH NEED NOT + # BE PRESERVED. CAE TTOAXIS # SCALED AT 4 SEC. AD .1AT4 # 0.1 SEC SCALED AT 4. - DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, + DXCH HH # STORE DENOMINATOR IN FIRST WORD OF H, EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP - DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR + DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR EXTEND MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC. TCF RETURNTJ # END SUBROUTINE. @@ -318,20 +318,20 @@ FORMULA2 EXTEND # SUBROUTINIZED COMPUTATIONS REQUIRED FOR ALL ENTRIES INTO CODING FOR ZONES 1, 2, AND 3. # REACHED BY TC FROM 3 POINTS IN TJETLAW. -Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET +Z123COMP CS ROTSENSE # USED IN RETURNTJ SECTION TO RESCALE TJET TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN. CAE EDOT # SCALED AT PI/2(5) RAD/SEC. EXTEND - INDEX ADRSDIF2 + INDEX ADRSDIF2 MP 1/ANET1 # SCALED AT 2(7)/PI SEC(2)/RAD. TS TTOAXIS # STORE TIME-TO-AXIS SCALED AT 4 SECONDS. AD -TJMAX EXTEND # IS TIME TO AXIS LESS THAN 150 MSEC. - BZMF +2 + BZMF +2 TCF FULLTIME # NO. FIRE JETS, DO NOT CALCULATE TJET. RETURN # YES. GO ON TO FIND TJET -ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3. +ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3. # IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL # LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT @@ -341,31 +341,31 @@ ZON1,2,3 TC Z123COMP # SUBROUTINIZED PREPARATION FOR ZONE1,2,3. CAE FIREFCT # SCALED AT PI/4 RAD. AD FLAT EXTEND - BZMF ZONE1 # NOT IN SPECIAL ZONES. + BZMF ZONE1 # NOT IN SPECIAL ZONES. # FIRE FOR AXIS OR, IF CLOSE, FIRE MINIMUM IMPULSE. IF ON AXIS, COAST. -ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS +ZONE2,3 CS ZONE3LIM # HEIGHT OF MIN-IMPULSE ZONE SET BY 1/ACCS AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL. - BZMF ZONE3 -ZONE2 CAE TTOAXIS # FIRE TO AXIS. + BZMF ZONE3 +ZONE2 CAE TTOAXIS # FIRE TO AXIS. TCF RETURNTJ -ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO. +ZONE3 CCS EDOT # CHECK IF EDOT IS ZERO. CAF BIT6 # FIRE A ONE-JET MINIMUM IMPULSE. TCF RETURNTJ # TJET = +0. TC CCSHOLE # CANNOT BE BECAUSE NEG EDOT COMPLEMENTED. TCF RETURNTJ # TJET = +0. -ZONE1 EXTEND - INDEX ADRSDIF1 +ZONE1 EXTEND + INDEX ADRSDIF1 SU AXISDIST # SCALED AT PI/4 RAD. EXTEND - INDEX ADRSDIF2 - MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD. + INDEX ADRSDIF2 + MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD. DDOUBL DDOUBL - DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). + DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2). # TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC: # 2 2 @@ -376,43 +376,43 @@ ZONE1 EXTEND EXTEND SQUARE EXTEND - SU HH # HIGH WORD OF H SCALED AT 8 SEC(2). + SU HH # HIGH WORD OF H SCALED AT 8 SEC(2). EXTEND - BZMF FULLTIME # YES. NEED NOT CALCULATE TJET. + BZMF FULLTIME # YES. NEED NOT CALCULATE TJET. # TEST WHETHER TIME BEYOND AXIS GREATER THAN 50 MSEC TO DETERMINE WHICH APPROXIMATION TO USE. CAE HH AD NEG2 EXTEND - BZMF FORMULA3 + BZMF FORMULA3 # Page 1467 # TJET = H/0.1 + TTOAXIS + .0375 FOR APPROXIMATION OVER MORE THAN 50 MSEC. CAF .1AT2 # STORE .1 SEC SCALED AT 2 FOR DIVISION. - DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE + DXCH HH # DP H SCALED AT 8 SEC(2) NEED NOT BE EXTEND # PRESERVED. - DV HH # QUOTIENT SCALED AT 4 SECONDS. + DV HH # QUOTIENT SCALED AT 4 SECONDS. AD TTOAXIS # SCALED AT 4 SEC. AD .0375AT4 # .0375 SEC SCALED AT 4. TCF RETURNTJ # END COMPUTATION. # TJET - H/.O25 + TTOAXIS FOR APPROXIMATION OVER LESS THAN 50 MSEC. -FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION - DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE +FORMULA3 CS -.025AT2 # STORE +.25 SEC SCALED AT 2 FOR DIVISION + DXCH HH # PICK UP DP H AT 8, WHICH NEED NOT BE EXTEND # PRESERVED. - DV HH # QUOTIENT SCALED AT 4 SECONDS. + DV HH # QUOTIENT SCALED AT 4 SECONDS. AD TTOAXIS # SCALED AT 4 SEC. # IF COMPUTED JET TIME IS LESS THAN TJMIN, TJET IS SET TO ZERO. # MINIMUM IMPULSES REQUIRED IN ZONE 3 ARE NOT SUBJECT TO THIS CONSTRAINT, NATURALLY. -CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM. +CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM. EXTEND - BZMF COASTTJ # YES, SET TIME TO ZERO. - AD TJMIN # NO, RESTORE COMPUTED TIME. + BZMF COASTTJ # YES, SET TIME TO ZERO. + AD TJMIN # NO, RESTORE COMPUTED TIME. TCF RETURNTJ # END COMPUTATION. # Page 1468 @@ -428,50 +428,50 @@ CHKMINTJ AD -TJMIN # IS COMPUTED TIME LESS THAN THE MINIMUM. # RUFLAW2: ERROR MORE POSITIVE THAN PI/16 RAD. FIRE TO AN OPPOSING RATE OF 6.5 DEG/SEC. # RUFLAW3: ERROR RATE GREATER THAN PI/32 RAD/SEC AND ERROR WITHIN BOUNDS. COAST IF BELOW FIREFCT, FIRE IF ABOVE -RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4 +RUFLAW1 CS RUFRATE # DECREMENT EDOT BY .1444 RAD/SEC AT PI/4 ADS EDOT # WHICH IS THE TARGET RATE EXTEND - BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET. + BZMF SMALRATE # BRANCH IF RATE LESS THAN TARGET. TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS. CAE EDOT # PICK UP DESIRED RATE CHANGE. -RUFLAW12 EXTEND # COMPUTE TJET - INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.) +RUFLAW12 EXTEND # COMPUTE TJET + INDEX ADRSDIF2 # = (DESIRED RATE CHANGE)/(2-JET ACCEL.) MP 1/ANET1 +2 AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS EXTEND # 4 SECONDS, SET TJET TO TJMAX. - BZMF +2 + BZMF +2 TCF FULLTIME EXTEND BZF FULLTIME AD BIT12 # RESTORE COMPUTED TJET TO ACCUMULATOR DAS A DAS A - DAS A # RESCALED TJET AT 4 SECONDS. + DAS A # RESCALED TJET AT 4 SECONDS. TCF CHKMINTJ # RETURN AS FROM FINELAW. -SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS +SMALRATE TC RUFSETUP +2 # SET NUMBERT AND FIREFCT FOR MAXIMUM JETS CCS ROTSENSE - CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET - TCF +2 # CORRESPONDING TO THE PROPER SENSE. + CAF ONE # MODIFY INDEXER TO POINT TO 1/ANET + TCF +2 # CORRESPONDING TO THE PROPER SENSE. CAF NEGONE ADS ADRSDIF2 CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG. TCF RUFLAW12 -RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS. +RUFLAW2 TC RUFSETUP # REVERSE ROTSENSE AND INDICATE MAX JETS. CAF RUFRATE AD EDOT # (.144 AT PI/4 + EDOT) = DESIRED RATE CHNG. - TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME. + TS A # IF OVERFLOW SKIP, FIRE FOR FULL TIME. TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME. TCF FULLTIME # Page 1469 -RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE. +RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE. INDEX ADRSDIF1 CS FIREDB # CALCULATE DISTANCE FROM SWITCH CURVE - AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0 + AD E # 1/ANET1*EDOT*EDOT +E - FIREDB = 0 EXTEND # SCALED AT 4 PI RADIANS MP BIT11 XCH EDOT @@ -482,12 +482,12 @@ RUFLAW3 TC RUFSETUP # EXECUTE COMMON RUFLAW SUBROUTINE. MP 1/ANET1 +2 AD EDOT EXTEND - BZMF COASTTJ # COAST IF BELOW IT. + BZMF COASTTJ # COAST IF BELOW IT. TCF FULLTIME # FIRE FOR FULL PERIOD IF ABOVE IT. # SUBROUTINE USED IN ALL ENTRIES TO ROUGHLAW. -RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE. +RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE. TS ROTSENSE +2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES. TS NUMBERT @@ -497,23 +497,23 @@ RUFSETUP CS ROTSENSE # REVERSE ROTSENSE WHEN ENTER HERE. # CONSTANTS FOR TJETLAW - DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS -AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR - DEC 16 # THE INDEXED AXIS AND THE U-AXIS. -SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW - # (4 SEC) TO SCALING FOR T6 (10.24 SEC). --3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45. --.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8. -.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4. -.1AT2 DEC .05 # .1 SEC SCALED AT 2. -.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4. --.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2. + DEC -16 # AXISDIFF(INDEX) = NUMBER OF REGISTERS +AXISDIFF DEC +0 # BETWEEN STORED 1/ACCS PARAMETERS FOR + DEC 16 # THE INDEXED AXIS AND THE U-AXIS. +SENSOR OCT 14400 # RATIO OF TJET SCALING WITHIN TJETLAW + # (4 SEC) TO SCALING FOR T6 (10.24 SEC). +-3DEG DEC -.06667 # -3.0 DEGREES SCALED AT 45. +-.0112A8 DEC -.00141 # -.01125 SEC(2) SCALED AT 8. +.1AT4 DEC .025 # 0.1 SECOND SCALED AT 4. +.1AT2 DEC .05 # .1 SEC SCALED AT 2. +.0375AT4 DEC .00938 # .0375 SEC SCALED AT 4. +-.025AT2 DEC -.0125 # -.025 SEC SCALED AT 2. -.025AT4 DEC -.00625 -.05AT2 DEC -.025 -.15AT2 DEC -.075 -.00375A8 2DEC .00375 B-3 +.00375A8 2DEC .00375 B-3 --TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4. -TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4. +-TJMAX DEC -.0375 # LARGEST CALCULATED TIME. .150 SEC AT 4. +TJMIN DEC .005 # SMALLEST ALLOWABLE TIME. .020 SEC AT 4. -TJMIN DEC -.005 -RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S. +RUFRATE DEC .1444 # CORRESPONDS TO TARGET RATE OF 6.5 DEG/S.