Hesitation between trajectory points about motoros2

[ted-miller]

Just noticed this again. So I took a capture using the PP oscope function. Notice the dimples in what should be a sinusoidal wave.

I'm cycling through 4 points, moving back and forth.

switch(sequenceId)
        {
        case 0: 
        requestQueuePoint->point.positions[0] += 0.174533;
        requestQueuePoint->point.positions[4] += 0.174533;
        requestQueuePoint->point.velocities[0] = 0.174533;
        requestQueuePoint->point.velocities[4] = 0.174533;
        sequenceId += 1;
            break;
        case 1:
        requestQueuePoint->point.positions[0] += 0.174533;
        requestQueuePoint->point.positions[4] += 0.174533;
        requestQueuePoint->point.velocities[0] = 0;
        requestQueuePoint->point.velocities[4] = 0;
        sequenceId += 1;
            break;
        case 2:
        requestQueuePoint->point.positions[0] -= 0.174533;
        requestQueuePoint->point.positions[4] -= 0.174533;
        requestQueuePoint->point.velocities[0] = -0.174533;
        requestQueuePoint->point.velocities[4] = -0.174533;
        sequenceId += 1;
            break;
        case 3:
        requestQueuePoint->point.positions[0] -= 0.174533;
        requestQueuePoint->point.positions[4] -= 0.174533;
        requestQueuePoint->point.velocities[0] = 0;
        requestQueuePoint->point.velocities[4] = 0;
        sequenceId = 0;
            break;
        }

[gavanderhoorn]

Would be interesting to have a recording of a regular trajectory execution as well. Just so we can compare.

[gavanderhoorn]

I can't be sure, but I believe I noticed similar hesitation during a regular trajectory execution yesterday.

Should try the scope and plot the velocity.