After Chaz and Johannes had seen some images being taken before move finished (12000 steps moves) we added back the wait command
Johannes analyzed whether the above issue happens on target runs by manual inspection and concluded it does not occur. (Measured time for moves and mean was always 4.xx ms.)
Hrands Timing Calculation is off by a factor of 4 because he uses 1ms interleave interval at every single step (instead of actual ontime) and multiplies it by max number of steps for each positioner in a group and addds all these values for each group (15 groups).
Moving direct from previous target position tested on 9/29 target run. Seems to work.
Discussed cap of steps per iteration with Hrand, might be problematic for collision avoidance blind moves.
Discussed testing of collision avoidance.
Analyzed the reason for previous target runs taking long time -> PID3 motor map was off so that 42k steps were commanded at some point -> 65 seconds moves.