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Motor_out vs Motor_power vs Balance_error?
  • jcobreros
    I understand motor power doesn't tell you anything about the direction the motor is trying to push, and motor_out and balance_error do.

    But how are balance_error and motor_out related to each other? They almost do the same thing (after you scale them to the same magnitude), but the values are not quite the same.
  • alexmosalexmos
    Hello,

    Balance_error is low-pass filtered (smoothed), motor_out shows instant output to the motor and may be very noisy. Also, balance_error is scaled to +-512 range regardless of the other settings (but motor_out maybe scaled too, don't remember exactly).
  • jcobreros
    Awesome. Thanks!
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