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Re: Encoder instability
How much do you lose the angle? Is it small enough just to be backlash, or is this really a significant amount?
Under what conditions does this happen/not happen? E.g. only when being backdriven, only in reverse, only when the last joystick command was x. Any patterns as to when it does/does not happen can help point to a cause.
Mechanically, if larger than a backlash value, i do not see how the problem could be inside the gearbox unless some teeth are practically missing or there's a similarly large failure. The coupling of the encoder to the backshaft is a possibility. Losing transitions electrically is certainly possible, especially if it happens in conjunction with collisions (including crossing defenses quickly) or another motor/actuator being operated.
Just for completeness, is the sensor connected to a pair of DIO ports on the RIO, or going to an SRX or Jaguar's encoder inputs? Especially if it's not coming from the DIO, are you sure you're using a 5V supply?
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