How to estimate the right encoder.config.bandwith



I have encoder.config.cpr = 8192 * 3 in my setup and encoder.config.bandwith is 100, the vel_limit is 120.000 atm.
How to calculate the right range for the bandwith?


The bandwidth is a tradeoff between velocity resolution and lag. With a high res encoder, you should be ok to use a value of 1000. You can increase it to get faster response but it will have more noise.