Add sylib-style motor velocity estimator for drivetrain feedback - #16

Merged

SerrialError merged 18 commits into

vexide-evianfrom

velocity-estimator

Sep 12, 2026

Commits on Sep 8, 2026

Add sylib-style motor velocity estimator for drivetrain feedback

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31b8844
Snap estimator dt to the 5ms motor grid; fix timestamp comment

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ebe2f5a
Revert "Snap estimator dt to the 5ms motor grid; fix timestamp comment"
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27e0a20
Fix reset-recovery, poll rate, and task lifetime in velocity estimation

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8d9f277
Fix Median doc, add direction probe, document startup and sampling

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0dfdff8

Commits on Sep 9, 2026

Fix probe_direction sign logic, measure TPR, document TICKS_PER_INTERNAL_REV

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942c3a9

Commits on Sep 10, 2026

Correct and tighten comments across the velocity-estimation changes

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79efef7
Exclude failed motors from feedback, guard probe divisor, sync sysid rate

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4d50b09

Commits on Sep 11, 2026

Exclude failed motors from sysid mean; fix probe inconclusive message

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12be970

Commits on Sep 12, 2026

Make sysid reuse MotorVelocityTracker instead of a duplicate loop

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2cd1028
Move RPM-averaging helpers to motor_velocity; share conversion in sysid

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30ea535
Correct comments: timestamp is the Brain's clock, not a motor clock

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d5706a9
Add RUN_PROBE entry point; fix stale doc; note sylib dT departure

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88a69e4
Run probe before sharing motors; drop stale dead_code allow

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ec199e2
Align with_sources ownership with new

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7807511
added more constants and comments to account for the magic numbers in the code emperically tuned from sylib
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0285633
Zero remaining placeholder values in main and flag them with TODOs

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fccaf46
Pass drive gearset in instead of reading it per motor

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e5108b0