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Re: Unexpected results from Encoder::GetRate()
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1x Decoding example of a quadrature encoder Lets take a simple 1 deg resolution encoder. We start with 0 angle, rotate to 1.1 deg and reverse to -.9 and then reverse again and go forward back to 0. Error = true - encoder Angle..joe count/chris count... joe error/chris error fwd 0.0..0/0....0/0********tie 0.5..0/0....0/0********tie 1.0..1/1... 0/0 New edge event (joe and chris increment)****tie note:joe and chris in sync 1.1..1/1... 0.1/0.1*****tie bkwd 1.0..0/1... 1/0 Same edge event (joe decrement, chris no) ****chris wins note:joe and chris out of sync by 1 0.9..0/1...0.9/-0.1*****chris wins 0.5..0/1...0.5/-0.5*****tie. 0.1..0/1....0.1/-0.9*****joe wins 0.0..-1/0....1.0/0 New edge event(joe and chris decrement) ******chris wins -0.5..-1/0...0.5/-.5*****tie -.9...-1/0....0.1/-.9*****joe wins fwd -.5... -1/0...0.5/-.5*****tie 0.0...0/0....0/0 Same edge event(joe increment,chris no) ***tie note: back in sync here 0.5...0/0.... 0/0********tie Quote:
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Here is another analogy: A climber must report his position to base camp as either (ground or top). The climber reaches the top of a mountain and reports (top) to base camp. He then turns around and takes one step down and then updates his position to base camp. What is his best estimate? Alan/joe might say..of course... he must report a ground position. I say no... he has knowledge that he is at the top on his last report and he that he is still there... so his best estimate must be his last reported position which is top. Last edited by vamfun : 25-04-2010 at 15:28. |
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