[Ether]

Tom Line:
We'll play around a bit more at 10ms using our own rate calculation and not the FPGA.

Ether:
I was assuming that your rate calculation involved getting the encoder counts and dividing by the elapsed time, is that right? If so, when you call a library function to get the encoder counts, you are getting them from the FPGA.



Reading the encoder with the getrate from the labview getrate ntroduces a large amount of noise that counteracts any positive effect from the bang-bang (for us).

I think that may be due to lag and filtering. I think it would be worthwhile to test that in the context of my previous post.



What you suggest is how we started out, and there's a huge amount of error (+/-100rpm).

Please clarify what this +/-100RPM number means (see Chris' post)