Odometry Glitches

Background and Set Up

These odometry glitches were discovered during motor control PID tuning. See

• Creating_PID_Tuning_Graphs
• Creating_PID_Tuning_Graphs#Execution

Example Graph

These measurements are under load.

Observations

• Notice the odometry glitches that report a 0 m/sec wheel speed.
• Notice the wheel speed shot term oscillation.

The issues are pinpointed below