Quote:
Originally Posted by vamfun
Ok, then you are not seeing the factor of 2 on 1x rate that we are and determining avg rate would be unnecessary. How did you independently verified the 1x rate was ok?
It is hard to envision that the encoder could be in error if GetDistance() is working, so I vote for the code.
|
The speed is still off by a constant factor, but that's not what I'm focusing on at the moment. I agree that this is a code issue because GetDistance is correct.
The encoders are the reason for the noisy data returned by 4x decoding. GetDistance isn't greatly effected by this because every rising/falling edge is offset an equal but opposite amount, so it averages out to be correct. The problem comes in when you try to take the derivative (GetSpeed), because now these offsets are no longer averaged out.
Our "gracious professionalism" credo insists that we make decisions that are based solely on the desire to inspire and recognize science and technology using robot construction and competition as a vehicle. - Al Skierkiewicz [more] 
04-05-2010, 09:10 PM
Similar Threads
Threaded Mode