Difference between revisions of "Odometry Glitches"
From wikidb
(→Example Graph) |
(→Example Graph) |
||
Line 17: | Line 17: | ||
[[Image:plot151520.png|600px]] | [[Image:plot151520.png|600px]] | ||
+ | |||
+ | == Zero Wheel Speed Glitches == |
Revision as of 12:38, 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