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
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
45	1.030	1.033	1.018	1.006	1.007
33	1.020	1.022	0.995	0.979	1.010
35	0.899	1.020	0.979	0.012	0.812
29	0.851	1.005	0.975	0.970	0.911
41	1.026	1.031	0.967	0.980	0.952
39	0.974	1.015	0.961	0.954	0.970
31	1.002	1.005	0.948	0.947	0.965
37	0.986	1.007	0.940	0.743	0.801

-- JohannesGross - 20 Oct 2015