Difference between revisions of "Odometry Glitches"
From wikidb
(→Example Graph) |
(→Example Graph) |
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| Line 12: | Line 12: | ||
Observations | Observations | ||
* Notice the odometry glitches that report a 0 m/sec wheel speed. | * Notice the odometry glitches that report a 0 m/sec wheel speed. | ||
| − | * Notice the wheel speed | + | * Notice the wheel speed short term oscillation. |
The issues are pinpointed below | The issues are pinpointed below | ||
[[Image:plot151520.png|600px]] | [[Image:plot151520.png|600px]] | ||
Revision as of 12:37, 12 October 2017
Background and Set Up
These odometry glitches were discovered during motor control PID tuning. See
Example Graph
These measurements are under load.
Observations
- Notice the odometry glitches that report a 0 m/sec wheel speed.
- Notice the wheel speed short term oscillation.
The issues are pinpointed below
