Acceleration extrapolated position #10
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Position extrapolation is now based on an acceleration calculated using the last two step rate measurements. This gives a much smoother extrapolation line. The stepRate() function now extrapolates based on the amount of time since last step rate calculation, and the previous acceleration.
I added a lot of comments about how and why things work. Its not fully commented yet, but the missing comments are mostly repeats of the first ones.
# Conflicts: # EncoderMod.h
QuentinTorg
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Dec 25, 2015
…ition Acceleration extrapolated position
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Create an extrapolated position by taking the last two step rates and assuming a constant acceleration. This constant acceleration is then used to guess what the current position is at a point in time