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Unread 09-05-2015, 13:33
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Ether Ether is offline
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Re: pic: Small CIM in wheel swerve

Quote:
Originally Posted by sanddrag View Post
... there was a good bit of math and code involved...
If your sample time is fast and stable enough that the encoder could never turn 180 degrees from one sample to the next, then "all ya gotta do" at each sample is assume the encoder turned through the shortest angle, and keep track of zero crossings.


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