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Dual control loop with magnetic encoders

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wall0069
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Dual control loop with magnetic encoders

Has anyone implemented dual control loop using two magnetic encoders, one directly on the motor, and one on the gear that is being driven? This would eliminate any slop in the gears and be useful for robotics.

This project does it with a PSOC controller.

https://hackaday.io/project/157812-3d-printed-robot-actuator#j-discussio...