Comparing Accelerometer and Wheel Encoder Data
A necessary but mundane task of programming any vehicle’s autonomous drive system is filtering the noise out of encoder and accelerometer sensory data. To demonstrate the noisiness of our sensors to the rest of the FRC team, I decided to create visual aids using Microsoft Excel. The following graph shows both sets of data over time during smooth acceleration and deceleration.
Accelerometer and encoder data on progbot for a "smooth" driving trial.
Accelerometer and encoder data for a very rough trial with progbot. The wheels were slipping at points during this trial.
