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Fix absolute angle calculation #53

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at-wat opened this issue Mar 29, 2019 · 3 comments
Closed

Fix absolute angle calculation #53

at-wat opened this issue Mar 29, 2019 · 3 comments
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at-wat commented Mar 29, 2019 •
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After huge number of rotation, absolute angle calculation goes wrong.
image
x value 5,000 is aprox. 12G count of the encoder.
@at-wat at-wat self-assigned this Mar 29, 2019
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at-wat commented Mar 29, 2019 •
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origin jump filter slew rate on master:

  • interval: 10[kHz]/64 = 156.25[Hz]
  • diff max: enc_rev/100
  • rate: 1.56*enc_rev [cnt/s]: e.g. 26 [cnt/ms] may cause delay

jump filter in 1ms timer #49:

  • interval: 1[kHz]
  • diff max: enc_rev/15
  • rate: 67*enc_rev [cnt/s]: e.g. 1.1 [k cnt/ms] too large

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at-wat commented Mar 29, 2019

image

something periodically happens

@at-wat at-wat mentioned this issue Mar 29, 2019
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at-wat commented Apr 1, 2019

this looks been caused by a mistake in a local merge conflict resolving

@at-wat at-wat closed this as completed Apr 1, 2019
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