•  Page 1: position, velocity
• Top: turret position vs start time of move
• This over plots the 192 motions.
• The lines going from 62 to 80 are moving from tx to rx
• the lines going from 80 to 62 deg are moving from rx to tx.
• The data is sampled once a second.
• The + are spaced every 1 second of time along a line
• Bottom: the turret velocity during the moves.
• The velocity is computed from the encoder values.
• It reaches a peak of 10deg/second.
• Page 2: Blowup of position vs time to show when the turret was on position
• Top: Moving from  tx (62) to rx (79)
• For rxReady, the software requires the turret to be within .25 degrees of the final position.
• The red horizontal line marks the RxReady value. All points above this will signal turret ready
• Bottom: Moving from Rx to Tx.
• for TxReady the turret must be within .5 degrees of the final position
• The red horizontal line marks the TxReady value. All points below  this will signal turret ready

Summary:

• Looking at the plots, the turret is always ready before 4 seconds have elapsed in the turret motion.
• This does not mean that the switching only takes 4 seconds:
• there is also the time from when the command is issued by the software and the command gets sent to the motors.
• I think interpolated data is sent once a second so it could take up to a second for the data to be acted on.

processing: x101/200508/sbSwitching.pro