is less than the desired track angle, the track is rotated counterclockwise. If the current

track angle is greater than the desired track angle, the track is rotated clockwise. If the

track angle is equal to the desired track angle, within an angular tolerance of +/-1 degree,

the track is not rotated and the controller IPD returns to the ready state. The two-degree

total tolerance was determined heuristically based upon the maximum update rate of the

controller, the precision of the Auxiliary Track Positioning System and the overall speed

of motion of the auxiliary tracks while rotating. This algorithm is followed independent

of which auxiliary track is commanded to move.


Figure 3-3: "Set Auxiliary Actuator" algorithm