Notch Filter for Encoder

[joe-spall]

We saw a consistent ~1 Hz and 10 Hz noise on the encoder data.

We want to implement the notch filter for these 10 Hz noise (if don't figure out the source of the 10 Hz oscillation)

https://www.youtube.com/watch?v=M63o4Zzhptc

[guyfleeman]

This isn't possible. A notch/bandreject filter necessarily introduce a phase delay of the frequency it's intended to stop right? So filtering 1Hz would intro a control latency delay of 1000ms. Perhaps there's something super fancy and predictive here, but not sure the juice is worth the squeeze. I think we also narrowed this down to being bugs in other subsystem like vfilt