{"action":"created","issue":{"url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/36","labels_url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/36/labels{/name}","comments_url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/36/comments","events_url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/36/events","html_url":"https://github.com/officinerobotiche/uNAV.X/issues/36","id":55422518,"number":36,"title":"Issue reading encoder at low speeds","user":{"login":"Myzhar","id":3648617,"avatar_url":"https://avatars.githubusercontent.com/u/3648617?v=3","gravatar_id":"","url":"https://api.github.com/users/Myzhar","html_url":"https://github.com/Myzhar","followers_url":"https://api.github.com/users/Myzhar/followers","following_url":"https://api.github.com/users/Myzhar/following{/other_user}","gists_url":"https://api.github.com/users/Myzhar/gists{/gist_id}","starred_url":"https://api.github.com/users/Myzhar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Myzhar/subscriptions","organizations_url":"https://api.github.com/users/Myzhar/orgs","repos_url":"https://api.github.com/users/Myzhar/repos","events_url":"https://api.github.com/users/Myzhar/events{/privacy}","received_events_url":"https://api.github.com/users/Myzhar/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/officinerobotiche/uNAV.X/labels/bug","name":"bug","color":"fc2929"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":16,"created_at":"2015-01-25T17:29:06Z","updated_at":"2015-01-27T09:17:48Z","closed_at":null,"body":"After a few test using the PID tuner I faced that using a 400 CPR encoder there are really serious problems reading speeds below 1 rad/sec.\r\nOnce the motor exceeds 1 rad/sec the PID starts working very well and the speeds are read correctly.  "},"comment":{"url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/comments/71613985","html_url":"https://github.com/officinerobotiche/uNAV.X/issues/36#issuecomment-71613985","issue_url":"https://api.github.com/repos/officinerobotiche/uNAV.X/issues/36","id":71613985,"user":{"login":"guiott","id":5374799,"avatar_url":"https://avatars.githubusercontent.com/u/5374799?v=3","gravatar_id":"","url":"https://api.github.com/users/guiott","html_url":"https://github.com/guiott","followers_url":"https://api.github.com/users/guiott/followers","following_url":"https://api.github.com/users/guiott/following{/other_user}","gists_url":"https://api.github.com/users/guiott/gists{/gist_id}","starred_url":"https://api.github.com/users/guiott/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/guiott/subscriptions","organizations_url":"https://api.github.com/users/guiott/orgs","repos_url":"https://api.github.com/users/guiott/repos","events_url":"https://api.github.com/users/guiott/events{/privacy}","received_events_url":"https://api.github.com/users/guiott/received_events","type":"User","site_admin":false},"created_at":"2015-01-27T09:17:48Z","updated_at":"2015-01-27T09:17:48Z","body":"Let’s ask to @rbonghi\r\n\r\nin my version there isn’t such a check\r\nhttps://code.google.com/p/dspid4w/source/browse/trunk/dsPID4W.X/src/dsPID4W.c#1265 <https://code.google.com/p/dspid4w/source/browse/trunk/dsPID4W.X/src/dsPID4W.c#1265>\r\n\r\n\r\n> Il giorno 27/gen/2015, alle ore 09:37, Walter Lucetti <notifications@github.com> ha scritto:\r\n> \r\n> My double is on the control \"if (timePeriodL)\".\r\n> This means that if \"timePeriodL\" (as for timePeriodR naturally) is zero (starting condition), the overflow is not takes into account.\r\n> \r\n> If the robot moves at very low speed we can have overflows without incrementing the variable \"overTmrL\".\r\n> \r\n> It is a limit case, but it can happens!\r\n> \r\n> —\r\n> Reply to this email directly or view it on GitHub <https://github.com/officinerobotiche/uNAV.X/issues/36#issuecomment-71609369>.\r\n> \r\n\r\n___________________\r\nhttp://www.guiott.com/"}}