Ran targets using yesterdays fullmtrlgy_071514_1.xml and script 2014_07_09_TargetsEMSetC_no7.lst Results are in 07_17_14_04_35_18_TargetRun and look pretty much the same as before with pids 5, 6, 8 and 9 under-performing.

Going to run an adjusted map based on 07_15_14_09_06_05_TargetRun, 070914_set3_allmaps_adj6.xml

Loaded 070914_set3_allmaps_adj6 into MSIM and saved:

cmd_load_Xml_file_to_Database  070914_set3_allmaps_adj6
cmd_save_Database  

Restarted MSIM and ran 2014_07_09_TargetsEMSetC_no7 again

Results did not look so great. Sorta see everything. Some got worse, some better, some unchanged.

Ran adjustmaps to produce 070914_set3_allmaps_adj7 off of this data since there were some very clear linear trends in the error vs request plots that hopefully can be taken out.

Loaded new maps into MSIM

cmd_load_Xml_file_to_Database  070914_set3_allmaps_adj7
cmd_save_Database  

Started another run using 2014_07_09_TargetsEMSetC_no7 Aborted the test because we realized we could possibly save PID 9

THE RESCUE OF PID9

Realized that PID9 ontime is way too high. Confirmed in past ontime calibrations that the motor had changed performance on theta fwd quite a bit be comparing the ontime streaks.

left image: D:\PfsTests\07_15_14_15_36_35_onTimeTuning\Images
right image: D:\PfsTests\07_04_14_16_07_06_onTimeTuning\Images

Loaded 070914_set3_allmaps_adj7 into matlab

Changed PID9 ontimes

new = setARMval(new,9,'Link1_fwd_Duration',.04)
new = setARMval(new,9,'Link1_fwd_Duration_Slow',.04)
new = setARMval(new,9,'Link1_rev_Duration_Slow',.06)
new = setARMval(new,9,'Link1_rev_Duration',.06)

Starting with the script 2014_07_16_msimMotMap, created 2014_07_17_msimMotMap in which the following ontimes were changed:

• PID9 ontimes according to the changes just mentioned
• PID7 theta fwd .18 -> 0.2
• PID7 theta rev .2 -> 0.26
• PID5 phi fwd .06-> .1
• PID5 phi rev .07-> .1

Changed the rest of the ontimes in matlab also

new = setARMval(new,7,'Link1_rev_Duration_Slow',.26)
new = setARMval(new,7,'Link1_rev_Duration',.26)
new = setARMval(new,7,'Link1_fwd_Duration',.2)
new = setARMval(new,7,'Link1_fwd_Duration_Slow',.2)
new = setARMval(new,5,'Link2_fwd_Duration_Slow',.1)
new = setARMval(new,5,'Link2_fwd_Duration',.1)
new = setARMval(new,5,'Link2_rev_Duration',.1)
new = setARMval(new,5,'Link2_rev_Duration_Slow',.1)

Saved new XML with these ontimes as:

cobraCfg2xml(new,'070914_set3_allmaps_newOTs.xml')

Started run of 2014_07_17_msimMotMap