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Heading information from an accelerometer can be inherently noisy due to integration errors. Magnetometers and Gyroscopes can provide additional information to help reduce some of these errors, but if you are operating in the presence of external magnetic fields, you won't be able to reliably trust them either. Since you have designed / have access to the ...


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Yes, measuring motor current will give you a rough indication of torque. However, there are some caveats. Any gear train that you have between the load and motor will decrease the usefulness of current measurement. Some gear trains are better about this than others. I'm not 100% sure, but I think this is directly related to its backdrivability. At the ...


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