Quote:
Originally Posted by slibert
If we back up to the OP's question about velocity for motion profiling (rather than calculating displacement), do you think your test rig showed promise for velocity vector estimation that would rival or exceed encoders?
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Errors in measuring position translate directly to errors in deriving velocity.
When we gave up on the "telephoto mouse" project, we went to a trio of encoders (something like a US Digital S1, 64 counts per revolution) mounted to custom-fabricated follower wheels that were built something like the old "trick wheel" omnis. On carpet, they worked very well (though we soon discovered a hardware limitation in the IFI controllers' interrupt support, which we overcame with a simple TTL "quadrature hysteresis" circuit between the encoder and the digital input pins).