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micander / atrias

Automatically exported from code.google.com/p/atrias
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Derivative spiking during trajectory following #57

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago 
What steps will reproduce the problem?
1. Sine-wave trajectory following with ATRIAS 2.0
2. Motor velocities show spikes, should be smooth.

Original issue reported on code.google.com by Christia...@gmail.com on 7 Feb 2012 at 8:11

GoogleCodeExporter commented 9 years ago

Original comment by Christia...@gmail.com on 7 Feb 2012 at 8:18

GoogleCodeExporter commented 9 years ago 
This hasn't actually been documented anywhere I've seen, so I'll do it now.

We suspect that our noisy derivatives come from differences between the 
timestamp and when the data is actually recorded. With the Oroception rewrite, 
we will be moving to individual timestamps for each encoder. For the 32-bit 
encoders, this should remove almost all noise... hopefully it will do the same 
for the (26?)-bit encoders.

Original comment by jrvanwhy on 17 Jul 2012 at 3:39

GoogleCodeExporter commented 9 years ago

Original comment by jrvanwhy on 17 Jul 2012 at 3:41

GoogleCodeExporter commented 9 years ago 
This problem was left behind with the rewrite, and I don't think we are seeing 
similar symptoms under the new system. Closing.

Original comment by jrvanwhy on 19 Nov 2012 at 8:46