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
19	na	1.005	na	0.942
45	1.030	1.033	1.018	1.006
41	1.026	1.031	0.967	0.980
33	1.020	1.022	0.995	0.979
11	1.004	1.032	na	0.966
31	1.002	1.005	0.948	0.947
9	1.000	1.015	na	0.964
7	0.995	1.021	na	0.980
37	0.986	1.007	0.940	0.743
39	0.974	1.015	0.961	0.954
5	0.957	1.014	na	0.863
35	0.899	1.020	0.979	0.012
29	0.851	1.005	0.975	0.970
25	0.807	1.018	na	0.938

-- JohannesGross - 20 Oct 2015