We should calibrate rotorPosition and motorPosition on startup so that they
match. Also, we should correct for the 50:1 so we can compare these values.
This will allow us to measure the harmonic drive's deflection (and its
derivative, although quantization will probably be too large to be usable).
Original issue reported on code.google.com by jrvanwhy on 7 Sep 2012 at 9:01
Original issue reported on code.google.com by
jrvanwhy
on 7 Sep 2012 at 9:01