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This Concept Map, created with IHMC CmapTools, has information related to: [PART2]Bandwidth, cue and KR_stateMachine, initiate test when finished: ->ATT condition++ -> enable_recording =0 (end recording) -> assign new file name -> reset internal state machine for the future call if ATTconditionɠ: ATT IDLE, initiate test when finished: ->ATTM condition++ -> enable_recording =0 (end recording) -> assign new file name -> reset internal state machine for the future call if ATTMconditionɜ: ATTM IDLE, if testProcedure == 1 ATT -> ATT condition=0 -> run_ATT = 1 -> run_cnstSpdTorq = 0 -> enable_recording =0 if ATTconditionɠ: ATT IDLE, if ATTconditionɠ: ATT IDLE press 'Enter' -> enable_recording =1 (start recording) initiate test, if ATTMconditionɜ: ATTM IDLE if ATTMcondition >= 4 -> run_ATT = 0 -> run_cnstSpdTorq = 0 -> enable_recording =0 PART 1 IDLE, PART 1 IDLE check: testProcedure and assign if testProcedure ==3, PART 1 IDLE check: testProcedure and assign if testProcedure == 2, if testProcedure == 2 ATTM ->ATTMcondition=0 -> run_ATT = 0 -> run_cnstSpdTorq = 1 -> enable_recording = 0 if ATTMconditionɜ: ATTM IDLE, PART 1 IDLE check: testProcedure and assign if testProcedure == 1, if ATTMconditionɜ: ATTM IDLE press 'Enter' -> enable_recording =1 (start recording) initiate test, if ATTconditionɠ: ATT IDLE if ATTcondition>=8 -> run_ATT = 0 -> run_cnstSpdTorq = 0 -> enable_recording =0 PART 1 IDLE, SYSTEM IDLE: waiting for any types of executions -> run_ATT = 0 -> run_cnstSpdTorq = 0 -> enable_recording = 0 press:2 for running PART 2 enablePARTI = 0 enablePARTII = 1 enablePARTIII = 0 -> send ASCII code to switch to position-error control PART 1 IDLE, SYSTEM IDLE: waiting for any types of executions -> run_ATT = 0 -> run_cnstSpdTorq = 0 -> enable_recording = 0 press: 3 for tuning the elbow encoder log encoder -> enable_recording =1, if testProcedure ==3 exit condition met send termination code to CCS -> exit the system, Program start automatically SYSTEM IDLE: waiting for any types of executions -> run_ATT = 0 -> run_cnstSpdTorq = 0 -> enable_recording = 0