ok, so from what i understand you want to filter velocity which would be the differential of the encoder output. any FIR filter would add a delay in the measurement so a long filter will probably delay too much. what you want to do is absolutely and easily feasible in the FPGA but at the moment the web UI is not ready so you won't be able to do it alone if not fiddling with RTL directly.
since i am working on the motor library any input on it is appreciated so please let me have your wildest dreams and let's see what can be done.
so far we have:
- PWM (the current one should be fine... it has fixed frequency on all channels and variable phase/duty per channel)
- encoder (we just need to parametrize it differently, maybe, since if loop is handled in FPGA 16 bits may be more than enough
- FIR
- PID
- limit switch input (to reset absolute encoder values)
- I2C bus master (for temp sensors and other devices to monitor status)
- HDMI output (for user interface)
- a mechanism to dynamically link everything
what else?