Quote:
Originally Posted by vamfun
We integrated dt = 1/(Update_Rate) and checked that the computed time matched real time so this led us to the double encoder GetRate() error which we verified independently using motor rpm measurements.
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But what is Update_Rate? If it's derived from the period of some periodic loop, you need to verify the real interval of the periodic loop. How did you compute real time? I use the following code to measure my periodic intervals:
Code:
UINT32 timeCurr = GetFPGATime(); // in usec
float period = (float)(timeCurr - m_timestamp)/1000000.0;
m_timestamp = timeCurr;