Fork constructed and mounted on azimuth bearing. Some other materials have been supplied. The following photos were taken before the telescope design changed from equatorial to alt-az. The MC68332 board is responsible for PID servo control and requests points with constant time interval from the RT Linux module by generating parallel port interrupts.
Positional information is passed over the parallel port.
The RT Linux module also polls the microcontroller for measured positional information and fault conditions via the same parallel port. The RT Linux module provides spline interpolation of the timestamped positional information provided by the telescope control server application. Having a timestamped output, the server application does not need to be real-time, as long as it does not allow the command FIFO to become empty. All boards are 3U and the whole servo control system, including power supplies, is contained in one 19 inch 3U sub rack. Prototype MC68332 controller unit which piggybacks onto a 3U board.