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	SNR OA
25	0.807	1.018	na	0.938	0.951
29	0.851	1.005	0.975	0.970	0.911
35	0.899	1.020	0.979	0.012	0.812
5	0.957	1.014	na	0.863	0.872
39	0.974	1.015	0.961	0.954	0.970
37	0.986	1.007	0.940	0.743	0.801
7	0.995	1.021	na	0.980	0.970
9	1.000	1.015	na	0.964	0.954
31	1.002	1.005	0.948	0.947	0.965
11	1.004	1.032	na	0.966	0.911
33	1.020	1.022	0.995	0.979	1.010
41	1.026	1.031	0.967	0.980	0.952
45	1.030	1.033	1.018	1.006	1.007
19	na	1.005	na	0.942	0.861

-- JohannesGross - 20 Oct 2015