Velocity extrapolated position #7
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the extrapolation is calculated with the velocity until a distance of 1 step offset from the actual is reached, at which point it will be the maximum
The step rate function now uses the extrapolate function to calculate velocity. previously the step rate would only be updated when steps were taken, therefore when the encoder stopped moving, it would always return the last recorded step rate. Now, the step rate will deteriorate towards if steps aren’t recorded
New step rate function now uses the last recorded step rate until the predicted position is more than one step away, then it uses a position/time calculation to calculate a new velocity assuming the position is 1 step away. A position/time calculation doesn’t work when the elapsed time is below a certain value because it introduces inaccuracy, so the last step rate value is used
If a rate timer is double counted (during a direction change) then the new additions will now set the unchanged timer back to 0, giving more accurate positions
QuentinTorg
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Dec 6, 2015
Velocity extrapolated position
aftersomemath
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Jun 27, 2021
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