[jaysun]

Hi,

Our team is having trouble getting a consistent rate value from one of the optical encoders. The Rate value jumps around a lot, even when we use 1x decoding and choose to average 127 samples. When we made our own rate code based on the encoder's Distance, the variance persisted. It really messes with our PID loop when it tries to keep the speed of the motor consistent. (Note: the jumpiness occurs when the PID loop is not controlling the speed of the motor, so the problem is not caused by the PID controller.)

Any idea what the problem could be and how to fix it?

Thanks for any advice.