Merged
Conversation
the extrapolation is calculated with the velocity until a distance of 1 step offset from the actual is reached, at which point it will be the maximum
The step rate function now uses the extrapolate function to calculate velocity. previously the step rate would only be updated when steps were taken, therefore when the encoder stopped moving, it would always return the last recorded step rate. Now, the step rate will deteriorate towards if steps aren’t recorded
New step rate function now uses the last recorded step rate until the predicted position is more than one step away, then it uses a position/time calculation to calculate a new velocity assuming the position is 1 step away. A position/time calculation doesn’t work when the elapsed time is below a certain value because it introduces inaccuracy, so the last step rate value is used
If a rate timer is double counted (during a direction change) then the new additions will now set the unchanged timer back to 0, giving more accurate positions
QuentinTorg
added a commit
that referenced
this pull request
Dec 6, 2015
Velocity extrapolated position
aftersomemath
pushed a commit
to aftersomemath/Encoder
that referenced
this pull request
Jun 27, 2021
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
No description provided.