Quote:
Originally Posted by Mr. Van
We're looking at the Grayhill 63R series encoders for our VEXPro 3-CIM ball shifters.
Question what "Pulses per revolution" should we get? 256, 128, or 64? What are you using? Any issues with the high PPR? Will the new control system behave differently than the old?
Thanks!
- Mr. Van
Coach, Robodox
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The control system should be fine with all three resolutions.
That said, the 256 ppr encoders we have generate much noisier signals than the 64's. This becomes an issue if you're using PD control (specifically the d). The issue goes away if you use a low pass filter or turn on the FPGA's moving average feature (I think we averaged 4 or 8 samples).