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TechnoTitans / TitanWare2024

Crescendo 2024
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Pivot Cancoder velocity data noise + resolution #72

Open HarryXChen3 opened 5 months ago

HarryXChen3 commented 5 months ago

Something is up with the pivot Cancoder's velocity measurement - the Cancoder never makes 1 complete rotation (more like 0-90 deg) and from looking at its velocity data, not only is it noisy but throughout the range of motion, there are only 3 distinct values for the UnfilteredVelocity signal.

Should attach logs here once I find them.

Support email to support@ctr-electronics.com requested.

HarryXChen3 commented 5 months ago

Velocity measurements from a Cancoder on the output shaft of a shooter pivot - the pivot (and thus shaft + magnet) never makes a complete rotation.

The position data from the Cancoder is great (high resolution + very accurate) but the velocity data is very noisy. The unfiltered velocity only seems to ever report 3 different values and the filtered velocity is better but still noisy.

Cancoder Velocity Data image

TalonFX velocity data when using FusedCancoder image

Questions Are we meant to use the velocity of the Cancoder and if we are, is it supposed to be this noisy/incorrect? Using the Cancoder velocity data for SysId makes the data very noisy and the SysId fit practically useless.

Since we use FusedCANcoder, the fused motor reported velocity also becomes noisy - is that expected?

HarryXChen3 commented 5 months ago

Email sent to support@ctr-electronics.com. No logs attached, still looking for them...