Scott Hasse wrote: > Jun 30 17:48:41 scott-desktop kernel: [ 4078.255547] ENCODER runs between: > 60 > Jun 30 17:48:41 scott-desktop kernel: [ 4078.256330] ENCODER time between: > 796760 > Jun 30 17:48:41 scott-desktop kernel: [ 4078.256344] ENCODER runs between: > 40 > Jun 30 17:48:41 scott-desktop kernel: [ 4078.257366] ENCODER time between: > 1035788 > It appears you have really large real time jitter in this system. It could be either the base thread or the servo thread, not completely sure. But I see about 30% jitter on the time, and 50% on the runs! That will make any control loop malfunction badly. Have you run the latency tests on this system?
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