昨天把代码加到板子上测试了，以下是采集到的数据
//光栅正向空载
|位置估算器估算位置
+174 +176 +179 +181 +184 +187 +190 +192 +195 +198 +201 +204 +207 +211 +213 +216 +219 +222 +224 +227
+229 +231 +233 +236 +238 +240 +242 +244 +247 +249 +251 +254 +256 +259 +262 +264 +267 +270 +273 +277
+280 +284 +287 +291 +295 +299 +302 +306 +309 +312 +316 +319 +322 +324 +327 +330 +333 +336 +339 +342
+345 +349 +351 +354 +358 +001 +004 +008 +012 +016 +019 +023 +027 +031 +035 +038 +042 +045 +048 +051
+054 +056 +059 +062 +064 +067 +069 +072 +075 +077 +080 +083 +086 +089 +092 +095 +098 +101 +105 +108
+112 +115 +119 +123 +127 +130 +133 +137 +140 +142 +145 +148 +150 +153 +156 +158 +161 +163 +166 +168
+171 +173 +176 +179 +182 +185 +188 +191 +194 +197 +200 +203 +207 +210 +214 +217 +220 +223 +226 +228
+231 +233 +236 +238 +241 +243 +245 +248 +250 +252 +255 +257 +260 +262 +265 +268 +271 +274 +277 +280
|光栅位置（位置做了+90度和速度偏移）
+274 +277 +280 +283 +286 +289 +292 +295 +298 +301 +304 +307 +310 +313 +316 +319 +322 +325 +328 +331
+334 +337 +340 +343 +346 +349 +352 +355 +358 +001 +004 +007 +010 +013 +016 +019 +022 +025 +028 +031
+034 +037 +040 +043 +046 +049 +052 +055 +058 +061 +064 +067 +070 +073 +076 +079 +082 +085 +088 +091
+094 +097 +100 +103 +106 +109 +112 +115 +118 +121 +124 +127 +130 +133 +136 +139 +142 +145 +148 +151
+154 +157 +160 +163 +166 +169 +172 +175 +178 +181 +184 +187 +190 +193 +196 +199 +202 +205 +208 +211
+217 +217 +220 +223 +226 +229 +232 +235 +238 +241 +244 +247 +250 +253 +256 +259 +262 +265 +268 +271
+274 +277 +280 +283 +286 +289 +292 +295 +298 +301 +304 +307 +310 +313 +315 +319 +322 +324 +328 +331
+333 +337 +339 +342 +346 +348 +351 +354 +357 +000 +003 +007 +009 +012 +016 +018 +021 +025 +027 +030
|
楼主
