Quote:
Originally Posted by gvarndell
How often are you sampling?
Are you able to translate your average acceleration to a reasonable approximation of current velocity?
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I doubt we would be able to, the thing is still
very noisy. We're sampling at about 100hz (the rate that our wheel-control PID loop is currently running). The spec sheet says that accelerometer runs up to 225hz, so we might bump it up later as a test.
The good news is that we don't want to get our velocity. We're comparing the accelerometer-reported acceleration with the acceleration reported from our encoders. If the encoders report an acceleration substantially higher than the chip, we know we've got wheelspin and should probably do something about it.