{"id":255,"date":"2024-12-07T19:04:17","date_gmt":"2024-12-07T19:04:17","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/?p=255"},"modified":"2024-12-09T22:50:02","modified_gmt":"2024-12-09T22:50:02","slug":"ankits-status-report-for-12-07-2024","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/2024\/12\/07\/ankits-status-report-for-12-07-2024\/","title":{"rendered":"Ankit&#8217;s Status Report for 12\/07\/2024"},"content":{"rendered":"<p>This past week I spent a lot of time working on fixing high frequency noise in the controller. I noticed quite a few oscillations around the setpoint which I hypothesized were being caused by high frequency noise in the gyro that was interacting with the D term. To solve this, I implemented a Exponential Moving Average on the gyro readings in order to smooth them out (although this causes a bit of lag) and implemented a variable gain schedule to provide better stability. We are very close to hovering<\/p>\n","protected":false},"excerpt":{"rendered":"<p>This past week I spent a lot of time working on fixing high frequency noise in the controller. I noticed quite a few oscillations around the setpoint which I hypothesized were being caused by high frequency noise in the gyro that was interacting with the D term. To solve this, I implemented a Exponential Moving &hellip; <\/p>\n<p class=\"link-more\"><a href=\"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/2024\/12\/07\/ankits-status-report-for-12-07-2024\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Ankit&#8217;s Status Report for 12\/07\/2024&#8221;<\/span><\/a><\/p>\n","protected":false},"author":961,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/posts\/255"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/users\/961"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/comments?post=255"}],"version-history":[{"count":1,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/posts\/255\/revisions"}],"predecessor-version":[{"id":256,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/posts\/255\/revisions\/256"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/media?parent=255"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/categories?post=255"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/f24-teama6\/wp-json\/wp\/v2\/tags?post=255"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}