How do neo motors calculate instantaneous angular velocity

[Jayson12000]

I’m trying to implement a solution to calculate instantaneous or near-instantaneous acceleration, so I was wondering how neo motor calculates instantaneous velocity.

[Amicus1]

It checks the position every X milliseconds, and divides the difference in position by the time between the measurements. Note that this is jittery on the neo motors, so SPARK MAX controllers apply a 10th of a second filtering delay to smooth it out, but that means built in neo encoders are bad for velocity control.

[Jayson12000]

Do you know what that time difference is or how to find it?

[Oblarg]

Shooter Encoder?

I wouldn’t make that blanket statement for flywheels driven by NEOs. The NEO’s built-in encoder has an 8-tap moving average filter applied with 32 ms between samples. This adds (8 - 1) / 2 * 32 ms = 112 ms of delay to encoder measurements (see https://github.com/wpilibsuite/sysid/blob/main/sysid-application/src/main/native/include/sysid/analysis/FeedbackControllerPreset.h#L80-L109 for the delay equation derivations), and the filtering isn’t user overridable. 3512’s 2020 flywheel model had Kv = …