Robot characterization problems

[sargeanthost]

I know this isn’t correct for a characterization but there doesn’t seem to be anything wrong with our set up. Does this tool not like mag encoders?

[Joe_Ross]

Caveat: Mag encoders near motors susceptible to EM noise

This is obviously a problem in theory, but it’s still nice to have empirical verification that it matters in practice: I’ve now gotten characterization data from two different teams using mag encoder mounts right next to their CIM motors, and the data show an unmistakeable pattern of velocity noise proportional to motor speed. The only parsimonious explanation for this is electromagnetic interference from the motors. [image] [image] Teams should keep this in mind when deciding which encode…