Difference between revisions of "Odometry Glitches"
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Revision as of 12:39, 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
