The encoder values jump half a radian for two readings, then come back

micander / atrias

Automatically exported from code.google.com/p/atrias

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The encoder values jump half a radian for two readings, then come back #83

Closed GoogleCodeExporter closed 9 years ago

GoogleCodeExporter commented 9 years ago

Prof. Grizzle and Brian reported that the raw encoder data had spikes in it.  
The data looks good, except for one or two readings, which jumped half a 
radian, and then back to good-looking data.

Original issue reported on code.google.com by jonathan...@gmail.com on 16 Aug 2012 at 5:56

GoogleCodeExporter commented 9 years ago

Original comment by jrvanwhy on 7 Sep 2012 at 6:36

Changed state: Accepted

GoogleCodeExporter commented 9 years ago

I've added in code to LegMedulla.h (lines 67-70) to help debug this issue.

Original comment by jrvanwhy on 11 Sep 2012 at 9:47

Changed state: Started

GoogleCodeExporter commented 9 years ago

We've determined that this is essentially random misreadings from the encoders, 
and have added in code to ignore the bad readings.

Original comment by jrvanwhy on 15 Dec 2012 at 12:30

Changed state: Fixed