Quote:
Originally Posted by Bryce2471
I have found that with swerves, the small amount of accumulated drift from an incremental encoder is unexceptable.
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If you are getting "drift" with an incremental encoder then you are probably doing something wrong.
Adam listed two likely causes. A third, fourth, fifth, and sixth might be 3) using an encoder outside its operating range (edges per second), 4) a damaged encoder (dirty / scratched optical disk), 5) improperly assembled / mounted (optical disk alignment / concentricity), and 6) incorrect programming (resetting the counts rather than letting the FPGA accumulator run freely).