I currently have a setup where I have a force tension sensor that is feeding back the current force into my force control loop. However, sometimes I am getting a SPINOUT_ERROR when I command a change in force that requires a quick spin of the motor. I doubt that the issue is due to encoder slippage because the encoder is integrated into the COTS motor, and it is rated for high RPM.
I am thinking of simply commenting out the code that raises the SPINOUT_ERROR. Would you advise against that? Any other insights into what might be raising this error?