POSitionerMSTB < Subaru/PFS

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---+ Mini System Testbed (MSTB) Goals
---++ General Goals
   * Test functionality of three entire modules (six boards).
   * Test production cobra performance to keep up with EM cobras and shipping requirements.
   * Test electronics and FPGA functionality across several boards.
   * Test MPS functionality across boards.
   * Test obstacle avoidance for dense setting.
---++ Metrology Measurements
   * Do we have sufficient tooling to get metrology for rails in the instrument? 
   * Test tooling for automated generation of metrology measurements.
---++ Convergence Testing
   * Test target convergence of minisystem.
   * Test improvement of target convergence using automated motor map updating. 
   * Automate error analysis for flawed positioner behaviour. 
---++ Obstacle Avoidance
   * Test obstacle avoidance in mini system testbed
   * Optional: Measure performance of obstacle avoidance.
---++ Collision testing (done with EM rail) 
   1. Measure baseline fiber tilts at home position. 
   1. Run a bunch of moves with collisions. 
   1. Return to home positions and measure tilts again to see if plastic deformation occurred. 

---++ [[MSTB_AL][MINI SYSTEM TESTBED ACTIVITY LOGS]]

---++ Misc testing
   * [[%ATTACHURL%/Epoxy_Validation_test_report_v6.docx][Epoxy_Validation_test_report_v6.docx]]: Epoxy Validation Result 302-3M