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Updates for new encoder #37

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Updates for new encoder #37

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Annika-wyt
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Summary

sensors.py

  • added a running average for the linear and angular velocity
  • added a threshold to ignore velocities that are too small (with absolute magnitude smaller than 1e-5)
wheel_encoder_reader.py
  • updated the wheel radius and the ticks per revolution

Notes

  • Currently, we have a good enough estimation for linear velocity but not for angular velocity

Performance for linear velocity (comparison between wheel encoder and controller)

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