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Accommodate a failing encoder on the DriveTrain in Observer #46

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Kython89 opened this issue Feb 23, 2018 · 2 comments
Open

Accommodate a failing encoder on the DriveTrain in Observer #46

Kython89 opened this issue Feb 23, 2018 · 2 comments
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@Kython89
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The ForwardKinematics used by the observer are over determined meaning we could get rid of the input from one swerve module and still function fully.

  1. Detect a failed drive or steer encoder in ForwardKinematics
  2. Ignore a failed steer or drive encoder in ForwardKinematics

Stretch Goal:
Given a 2 wheel swerve drive is technically possible could we detect two failing swerve modules and still accurately keep track of our pose?

@ngraves2
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ngraves2 commented Feb 23, 2018 via email

@Kython89
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I totally agree. I wasn't suggesting that we should cut down on the overdeterminedness of the system under normal conditions. I simply want to handle a single and possibly 2 encoder failures.

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