• Analyzed results from re-run of adj1. Results look very similar to first target run with adj1.
• Made adj2 map. pid2 phi reverse had large compensation (+0.7) to make up for very large (-2.7) adjustment from adj1.

• InspectTC_CIT.m run on pid2.
  • Almost all targets have severe phi reverse overdamping. 6 different targets (15, 27, 50, 68, 77, 88) needed to go further in phi, but commanded 0 steps (motor map says step size is too large). The adj2 map should resolve that problem.
  • Another "kick-out" happened on theta (target 78). Confirmed that instead of region 1, it decided it was in region 0 (on step 3). mSim code update is ready to install that checks for this condition and will revert back to region 1 as necessary.

• Ran another target run with adj2 maps.

• Results of adj2 maps seen below

New On Times

• Hrand updated MSIM in between two of them

Modified Motor map script with new ontimes

• Note that two motor map scripts were run for this. 2014_07_21_msimMotMap and 2014_07_21_pid6phiRemap. The final results were all merged and processed and 07_21_14_22_15_30_msimMaps.

Created new maps from these ontimes called allMaps_072114_1.xml

Phi still gets stuck in reverse at around 77deg.

New Target Run

Results for SNR shown below:

PID 5 is heavily underdamped on theta fwd and also seems that way in reverse though not as extreme. Small moves on phi seem pretty bad also from the error vs request plot.

Looking closely at PID5 theta, the underdamping shows up on almost all of them and is pretty extreme such as the case below: