This is a long/known issue with the velocity reported by the cards. Basically, when passing the zero position of the motor, the velocity jumps and a spike shows up in the velocity plot. See the plot enclosed which is from squatting motions on solo12 using a slider box.
On the micro drivers we are running a velocity estimator. My best guess is that this estimator is buggy with respect to jumping at 2 pi angles.
This is a long/known issue with the velocity reported by the cards. Basically, when passing the zero position of the motor, the velocity jumps and a spike shows up in the velocity plot. See the plot enclosed which is from squatting motions on solo12 using a slider box.
On the micro drivers we are running a velocity estimator. My best guess is that this estimator is buggy with respect to jumping at 2 pi angles.