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Unread 26-04-2010, 14:25
jhersh jhersh is offline
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AKA: Joe Hershberger
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Re: Unexpected results from Encoder::GetRate()

Quote:
Originally Posted by vamfun View Post
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.
Then I would say that my encoder ticks halfway up the mountain... anywhere above half way, and I am at the top (best estimate given 2 choices); anywhere below, and I'm at the ground.

Your algorithm would say ground when starting, then after crossing half way, you are at the top... then you come back down all the way to the ground, and you still report that you are at the TOP!

-Joe
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