31 Jan 2009 motters   » (Master)

Squashed another odometry bug. It turns out that there appears to be an occasional momentary glitch in the values coming from the phidgets high speed encoders, whereby the sign of the encoder count flips from positive to negative or vice versa. This isn't a rollover of the accumulated count, and I think it's most likely due to EM interference from the motors, since it's not at all repeatable.

Fortunately there is a simple fix for this by having the software look for isolated sign inversions.

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