Merged
Conversation
Position extrapolation is now based on an acceleration calculated using the last two step rate measurements. This gives a much smoother extrapolation line. The stepRate() function now extrapolates based on the amount of time since last step rate calculation, and the previous acceleration.
I added a lot of comments about how and why things work. Its not fully commented yet, but the missing comments are mostly repeats of the first ones.
# Conflicts: # EncoderMod.h
QuentinTorg
added a commit
that referenced
this pull request
Dec 25, 2015
…ition Acceleration extrapolated position
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Create an extrapolated position by taking the last two step rates and assuming a constant acceleration. This constant acceleration is then used to guess what the current position is at a point in time