On 11/07/2017 08:58 PM, Gene Heskett wrote:
Hmmm, your raw encoder signals seem to have a LOT of width
variation. Since your time scale is 20 ms, there are 20
samples between screen divisions, so the sampling rate is
not likely to be the cause. Generating encoder velocity
from timing the edges suffers if there is poor accuracy of
the state transitions, and would be expected to produce a
jumpy velocity just like what you showed in a previous
Halscope trace. A very poor eyeball guess at the A-B trace
looks like you might get 10 - 20% velocity error easily with
those duty cycle variations. This ought to show up on an
actual scope, to verify it isn't in the Mesa -> HAL part of
the system.
Jon
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