The joints velocity for each CAN joint is calculated simply by the position difference between two ticks. This results in a noisy signal, as visualised here by PlotJuggler.
It might be useful to filter this, e.g. by a weighted moving average over a ringbuffer.
The joints velocity for each CAN joint is calculated simply by the position difference between two ticks. This results in a noisy signal, as visualised here by PlotJuggler.
It might be useful to filter this, e.g. by a weighted moving average over a ringbuffer.