Collision Avoidance

• Ran first test with colliding cobras.
• Partially worked, targets for some positioners were off (roughly 1-20).
• From the first to the second non colliding column there is an improvement due to motor map update. After that no more updates were done.
• 10/23/2015 - First test with OA did not print out due to MSIM bug - bug fixed by Johannes - next test should give results.

PID	SNR no Collision	SNR no Collision	SNR Colliding	SNR Colliding
45	1.030	1.033	1.018	1.006
41	1.026	1.031	0.967	0.980
39	0.974	1.015	0.961	0.954
37	0.986	1.007	0.940	0.743
35	0.899	1.020	0.979	0.012
33	1.020	1.022	0.995	0.979
31	1.002	1.005	0.948	0.947
29	0.851	1.005	0.975	0.970
25	0.807	1.018	na	0.938
19	na	1.005	na	0.942
11	1.004	1.032	na	0.966
9	1.000	1.015	na	0.964
7	0.995	1.021	na	0.980
5	0.957	1.014	na	0.863

-- JohannesGross - 20 Oct 2015