Quote:
Originally Posted by Jon Stratis
What about adding in limit switches to your mechanism to detect max travel distance and calibrate the encoder on the fly?
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This solution requires you to lose precision as your ability to sample transitions on the limit switch cannot keep up with the speed of your arm. We build the fastest mechanisms in FIRST and don't plan to change that any time soon. (Typically, we home them at the beginning of the match by VERY SLOWLY controlling it past the edge of a magnet/hall effect pair and capturing the encoder's current state at the edge).
Also, this doesn't help with motion planning as you can still blow right past/into the limit if you lose counts somewhere in the middle of your range of motion.
As Adam said, I think the right solution is to just not drop counts.