pic: Encoder Noise

[ayeckley]

Is this with the bot on the ground, or supported on blocks? If there is no load on the drivetrain then this seems pretty normal. We've been able to attribute this to backlash and the accompanying rattle within the drivetrain. With a "real" load the measurement should be more well-behaved since the masses are 10x-100x larger and the backlash-induced rattle goes away. Overdamping of the measurement (by cranking up the number of averages) brings it's own set of problems.

[Bpk9p4]

This was on blocks. I am using 50 for the config timer. I have not tried it on the ground yet but plan on doing that this weekend. Thanks for the advice

[notmattlythgoe]

Originally Posted by Bpk9p4

This was on blocks. I am using 50 for the config timer. I have not tried it on the ground yet but plan on doing that this weekend. Thanks for the advice

Did you try with a sample count somewhere around 10? We did this last night and our smoothed graph looks similar to yours, so you might not be gaining anything by having 40 more samples. The more samples you average the slower the system reacts to changes.