# Name: M_MCHSCHK
#
# Date:
#
# created:	09 05 1994	SDW
# revisions:
#
# Change Description
#
# None
#
# MDI Author:	Scott Williams	415-725-0482
#
# Description
#
# This procedure performs a preliminary checkout of the MTM1, MTM2,
# CAL1, CAL2, and PAW internal mechanisms.
#
# Intended Use
#
# Initial checkout of internal mechanisms.
#
# Duration
#
# ?
#
# Requirements and Constraints
#
# MDI in SLEEP mode.  Medium rate telemetry support required for
# duration of power on sequence.  MDI Operator on station to support
# verification of procedure.  
#
# Steps
#
# Step	Description				Command	   Monitor  Value
#  1	zero MTM offsets			mbsqmtmo
	   mbsqmtmo 0 0
#  2	reset MTM1				mbm1rs	   mkm1pos   255
#  3	reset MTM2				mbm2rs	   mkm2pos   255
#  4	reset PAW				mbpars	   mkpapos   255
#  5	reset CAL1				mbc1rs	   mkc1pos   255
#  6	reset CAL2				mbc2rs	   mkc2pos   255
#  7	command motors in clockwise direction	mbdpconf   mkm1pos   0,1
#	   mbdpconf 0x0100 0x0100 0x0100 0x0100 0x0100	   mkm2pos   0,1
#							   mkpapos   0,1	   
#							   mkc1pos   0,1	   
#							   mkc2pos   0,1	   
#  8	wait 30 sec
#  9	move mechanisms				mbdpconf   mkm1pos   0,1
#	   mbdpconf      1      1    125     19    125 	   mkm2pos   0,1
#							   mkpapos   124,125	   
#							   mkc1pos   18,19
#							   mkc2pos   124,125   
# 10	wait 30 sec
# 11	move mechanisms				mbdpconf   mkm1pos   20,21
#	   mbdpconf     21     41     17     55     17     mkm2pos   40,41
#							   mkpapos   16,17	   
#							   mkc1pos   54,55
#							   mkc2pos   16,17   
# 12	wait 30 sec
# 13	move mechanisms				mbdpconf   mkm1pos   40,41
#	   mbdpconf     41     81     53     91     53 	   mkm2pos   80,81
#							   mkpapos   52,53	   
#							   mkc1pos   90,91
#							   mkc2pos   52,53   
# 14	wait 30 sec
# 15	command motors in clockwise direction	mbdpconf   mkm1pos   0,1
#	   mbdpconf 0x0200 0x0200 0x0200 0x0200 0x0200	   mkm2pos   0,1
#							   mkpapos   0,1	   
#							   mkc1pos   0,1
#							   mkc2pos   0,1   
# 16	wait 30 sec
# 17	move mechanisms				mbdpconf   mkm1pos   80,81
#	   mbdpconf     81    121     89    127     89 	   mkm2pos   120,121
#							   mkpapos   88,89	   
#							   mkc1pos   126,127
#							   mkc2pos   88,89   
# 18    record MDI current, either			   MIPWA     ~1.1
#      	or						   MIPWB     ~1.1
# 19	end of procedure