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

-- JohannesGross - 20 Oct 2015