Encoders on Drive Train DON'T WORK.

[JamesTerm]

Originally Posted by Ether

In years past, 4X with GetRate() was not recommended. Too noisy. I've heard that this year, the C++ WPILib added averaging to GetRate() to attempt to reduce the noise. Does anyone know if this works well?

Also, does anyone know: has the GetRate() FPGA bug definitely been fixed in this year's image?

In regards to the 2011 bug last year:
I worked with Joe H. personally on this bug, during the 2012 beta period... I also traced the source code history on it as well when I fell victim to it in 2011... I've verified it as fixed. That particular bug would yield NAN (division by zero), and I used the work around for it, then disabled work-around when I verified the 2012 image.

The irony is that GetRate() worked better for this choppy problem, but at higher speeds it would have a distinct 30-40 radian skip between the numbers like 300.30 10x 330.2 3x 300.10x (around 47 rps). I've found that I could work-around this problem by using the kalman filter.

If someone can point me to the best link where others are talking about the current choppiness this year... that would be greatly appreciated. (I'm a bit search engine challenged).