Encoder help
 

Right now I'm heading a project to build and program a swerve drive. I've been using some code apple pi released and I've got the logic part of the code done, however I don't know how to figure the distance per count of an encoder. I'm using an E4P OEM encoder from US Digital. I want the code to receive how many degrees the motor has rotated.

Re: Encoder help
 

Most encoders' data sheets will report the encoder's CPR or ticks (counts) per revolution. Multiply the wheel circumference by any gear ratios between the wheel and encoder then divide by the CPR to get distance per count. If that doesn't work, you can determine it experimentally by setting up your system with a distance per tick of 1, rotating the wheel 360 degrees, then dividing the wheel circumference by the encoder output.

Re: Encoder help
 

Thank you for the help I experimented with it and found the distance per count