Motor_out vs Motor_power vs Balance_error?
  • 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.
  • 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).
  • Awesome. Thanks!