Is your feature request related to a problem? Please describe.
The current velocity mode is sensitive to the resolution of the encoder for high update rate function, and gets very noisy. Furthermore, on motors with cogging, it struggles to keep up.
Describe the solution you'd like
Instead of derivating the angle of the sensor, integrating the target velocity to get a position would reduce the noise. Of course, that delta position would need to be divided by delta time to stay a velocity.
Is your feature request related to a problem? Please describe.
The current velocity mode is sensitive to the resolution of the encoder for high update rate function, and gets very noisy. Furthermore, on motors with cogging, it struggles to keep up.
Describe the solution you'd like
Instead of derivating the angle of the sensor, integrating the target velocity to get a position would reduce the noise. Of course, that delta position would need to be divided by delta time to stay a velocity.