Transfocator MONITORING (...and correction) #283
Description
The transfocator lenses drift overtime. We need a tool that ensures they are in the correct position.
Expected Behavior
The lenses should not drift from their inserted position.
Context / environment
The lenses drifting is becoming more and more problematic for experiments and so far a practical/hardware solution has not been identified.
Suggested Solution
The code should iterate through all of the lenses to determine which ones are NOT REMOVED as that is easier to determine than inserted. Every X amount of time. From the false list of these lenses (the inserted lenses) it should evaluate whether they are near their "inserted" setpoint. If not, then it should move them to the inserted setpoint. Perform some logging. It will need to check the inserted status every iteration in case the operator is doing some things. If they are in a "moving" status the code should exit that iteration.
IDEALLY we can't have a lens "insert" itself as that presents a potential RP hazard. So we need to correct the lenses before they declare themselves "removed".