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.

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

-- JohannesGross - 20 Oct 2015