TJET_LAW.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: TJET_LAW.agc
## Purpose: A section of Luminary revision 116.
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC) for Apollo 12.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 1450-1459
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS Created from Luminary 99.
## 2017-01-26 RRB Updated for Luminary 116.
## 2017-03-14 RSB Proofed comment text via 3-way diff vs
## Luminary 99 and 131.
## 2017-03-16 RSB Comment-text fixes identified in 5-way
## side-by-side diff of Luminary 69/99/116/131/210.
## 2017-03-19 HG Fix statement AD -3DEG --> TCF +3
## Add missing statement TCF +1
## Page 1450
# PROGRAM DESCRIPTION
# DESIGNED BY: R. D. GOSS AND P. S. WEISSMAN
# CODED BY: P. S. WEISSMAN 28 FEBRUARY 1968
# TJETLAW IS CALLED AS A SUBROUTINE WHEN THE LEM IS NOT DOCKED AND THE AUTOPILOT IS IN THE AUTOMATIC OR
# ATTITUDE-HOLD MODE TO CALCULATE THE JET-FIRING-TIME (TJET) REQUIRED FOR THE AXIS INDICATED BY AXISCTR:
# -1 INDICATES THE P-AXIS
# +0 INDICATES THE U-AXIS
# +1 INDICATES THE V-AXIS.
# THE REGISTERS E AND EDOT CONTAIN THE APPROPRIATE ATTITUDE ERROR AND ERROR RATE AND SENSETYP SHOWS WHETHER
# UNBALANCED COUPLES ARE PREFERRED. TJETLAW ALSO USES VARIOUS FUNCTIONS OF ACCELERATION AND DEADBAND WHICH ARE
# COMPUTED IN THE 1/ACCONT SECTION OF 1/ACCS AND ARE STORED IN SUCH AN ORDER THAT THEY CAN BE CONVENIENTLY
# ACCESSED BY INDEXING.
# 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 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.
# IN ORDER TO AVOID SCALING DIFFICULTIES, SIMPLE ALGORITHMS TAGGED RUFLAW1, -2 AND -3 ARE RESORTED TO WHEN THE
# ERROR AND/OR ERROR RATE ARE LARGE.
# CALLING SEQUENCE:
# TC TJETLAW (MUST BE IN JASK)
# OR
# INHINT (MUST BE IN JASK)
# TC IBNKCALL
# CADR TJETLAW
# RELINT
# EXIT: RETURN TO Q.
# INPUT:
# FROM THE CALLER: E, EDOT, AXISCTR, SENSETYP, TJP, -U, -V.
# FROM 1/ACCONT: 48 ERASABLES BEGINNING AT BLOCKTOP (INCLUDING FLAT, ZONE3LIM AND ACCSWU, -V).
# OUTPUT:
# TJP,-U OR -V, NUMBERT (DAPTEMP5), FIREFCT (DAPTEMP3).
# DEBRIS:
# A, L, Q, E, EDOT, DAPTEMP1-6, DAPTREG1-4.
# ALARM: NONE
BANK 17
SETLOC DAPS2
BANK
EBANK= TJP
## Page 1451
COUNT* $$/DAPTJ
TJETLAW EXTEND # SAVE Q FOR RETURN.
QXCH HOLDQ
# SET INDEXERS TO CORRESPOND TO THE AXIS AND TO THE SIGN OF EDOT
INDEX AXISCTR # AXISDIFF(-1)=NO OF LOCATIONS BER 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.
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.
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
# 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
## Page 1452
EXTEND # FOR THIS AXIS=
MP BIT4 # SHIFT RIGHT ELEVEN BITS, IF THE A-REG IS
EXTEND # ZERO, THEN RESCALE AND USE FINELAW.
BZF SCALEDOT
TCF RUFLAW3
# *** FINELAW STARTS HERE ***
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 EDOTSQ
TS EDOTSQ # TO PI(2)/2(8) RAD(2)/SEC(2).
ERRTEST CCS E # DOES BIG ERROR (THREE DEG BEYOND THE
TCF +3 # DEADBAND) REQUIRE MAXIMUM JETS?
TCF +2
TCF +1
AD -3DEG
EXTEND
INDEX ADRSDIF1
SU FIREDB
EXTEND
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.
TCF TJCALC # YES. USE MIN-JET PARAMETERS.
TCF MAXJETS # NO. GET MAX-JET PARAMETERS.
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).
EXTEND
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.
EXTEND
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
ZONE4,5 INDEX ADRSDIF1
## Page 1452
CAE 1/ACOAST # .5/ACC SCALED AT 2(6)/PI WHERE
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.
EXTEND # TEST E+.5(EDOTSQ)/ACC+DB AT PI/4 RADIAN.
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
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.
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
AD AXISDIST # PHASE PLANE|
EXTEND
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
CS FIREDB # THIS POINT IN THE PHASE PLANE|
DOUBLE
AD FIREFCT
EXTEND
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.
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
## Page 1454
CS TWO # (ACTUAL) ERROR RATE IS NEGATIVE.
ADS ADRSDIF2
+4 CAE L
EXTEND
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.
EXTEND
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 NEG2
EXTEND
BZMF FORMULA1
# TEST WHETHER TJET GREATER THAN 150 MSEC.
CAE TTOAXIS
EXTEND
MP -.15AT2 # H - .15 TTOAXIS - .01125 G.T. ZERO
AD HH # (SCALED AT 8 SEC(2) )
AD -.0112A8
EXTEND
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.
# RETURN TO CALLING PROGRAM WITH JET TIME SCALED AS TIME6 AND SIGNED.
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.
TS TJETU
EXTEND
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.
## Page 1455
CAF FOUR
TS NUMBERT
TC HOLDQ # RETURN VIA SAVED Q.
# TJET = H/(.025 + TTOAXIS) FOR TJET LESS THAN 50 MSEC.
FORMULA1 CS -.025AT4 # .025 SEC SCALED AT 4.
AD TTOAXIS # SCALED AT 4 SECONDS.
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.
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
DCA .00375A8 # .00375 SEC(2) SCALED AT 8.
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,
EXTEND # WHICH NEED NOT BE PRESERVED. PICK UP
DV HH # DP NUMERATOR AND DIVIDE BY DENOMINATOR
EXTEND
MP BIT14 # RESCALE TJET FROM 2 TO USUAL 4 SEC.
TCF RETURNTJ # END SUBROUTINE.
# 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
TS ROTSENSE # AS TIME6 AND GIVE IT PROPER SIGN.
CAE EDOT # SCALED AT PI/2(5) RAD/SEC.
EXTEND
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
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.
# IF THE (NEG) DISTANCE BEYOND PARABOLA IS LESS THAN FLAT, USE SPECIAL
## Page 1456
# LOGIC TO ACQUIRE MINIMUM IMPULSE LIMIT CYCLE. DURING POWERED FLIGHT
# OR ULLAGE, FLAT = 0
CAE FIREFCT # SCALED AT PI/4 RAD.
AD FLAT
EXTEND
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
AD TTOAXIS # 35 MSEC IN DRIFTING FLIGHT
EXTEND # ZERO WHEN TRYING TO ENTER GTS CONTROL.
BZMF ZONE3
ZONE2 CAE TTOAXIS # FIRE TO AXIS.
TCF RETURNTJ
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
SU AXISDIST # SCALED AT PI/4 RAD.
EXTEND
INDEX ADRSDIF2
MP ACCFCTZ1 # SCALED AT 2(7)/PI SEC(2)/RAD.
DDOUBL
DDOUBL
DXCH HH # DOUBLE PRECISION H SCALED AT 8 SEC(2).
# TEST WHETHER TOTAL TIME REQUIRED GREATER THAN 150 MSEC:
# 2 2
# IS .5(.150 - TTOAXIS) - H NEGATIVE (SCALED AT 8 SECONDS )
CAE TTOAXIS # TTOAXIS SCALED AT 4 SECONDS.
AD -TJMAX # -.150 SECOND SCALED AT 4.
EXTEND
SQUARE
EXTEND
SU HH # HIGH WORD OF H SCALED AT 8 SEC(2).
EXTEND
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
## Page 1457
BZMF FORMULA3
# 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
EXTEND # PRESERVED.
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 +.025 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.
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.
EXTEND
BZMF COASTTJ # YES, SET TIME TO ZERO.
AD TJMIN # NO, RESTORE COMPUTED TIME.
TCF RETURNTJ # END COMPUTATION.
## Page 1458
# *** ROUGHLAW ***
# BEFORE ENTRY TO RUFLAW:
# 1. INDEXERS ADRSDIF1 AND ADRSDIF2 ARE SET ON BASIS OF AXIS, AND SIGN OF EDOT.
# 2. IF EDOT WAS NEGATIVE, E AND EDOT ARE ROTATED INTO UPPER HALF-PLANE AND ROTSENSE IS MADE NEGATIVE.
# 3. E IS SCALED AT PI RADIANS AND EDOT AT PI/4 RAD/SEC.
# (EXCEPT THE RUFLAW3 ENTRY WHEN E IS AT PI/4)
# RUFLAW1: ERROR MORE NEGATIVE THAN PI/16 RAD. FIRE TO A RATE OF 6.5 DEG/SEC (IF JET TIME EXCEEDS 20 MSEC.).
# 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
ADS EDOT # WHICH IS THE TARGET RATE
EXTEND
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.)
MP 1/ANET1 +2
AD -1/8 # IF TJET, SCALED AT 32 SEC, EXCEEDS
EXTEND # 4 SECONDS, SET TJET TO TJMAX.
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.
TCF CHKMINTJ # RETURN AS FROM FINELAW.
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 NEGONE
ADS ADRSDIF2
CS EDOT # (.144 AT PI/4 - EDOT) = DESIRED RATE CHNG.
TCF RUFLAW12
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.
TCF RUFLAW12 # OTHERWISE, COMPUTE JET TIME.
TCF FULLTIME
## Page 1459
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
EXTEND # SCALED AT 4 PI RADIANS
MP BIT11
XCH EDOT
EXTEND
SQUARE
EXTEND
INDEX ADRSDIF1
MP 1/ANET1 +2
AD EDOT
EXTEND
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.
TS ROTSENSE
+2 CAF FOUR # REQUIRE MAXIMUM (2) JETS IN U,V-AXES.
TS NUMBERT
CAF NEGMAX # SUGGEST MAXIMUM (4) JETS IN P-AXIS.
TS FIREFCT
TC Q
# 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 # 0.1 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
-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.
