|
Re: Robots not under driver control- does it happen- do you determine why?
Thanks for clarifying the interrupt issue as currently focused on figuring out the non-responsive robot problem. I haven't had a chance to look through the cRIO docs to see what is under the hood.
The encoder is on the shaft of the gear box provided in the KOP. So a single wheel turn is probably giving a 2X increase on count. I initially went with 360 as one revolution of encoder and 720 for one revolution of the wheel. I have two encoders one for each wheel. I set the distance per pulse and in distance traveled simply didn't match distance measured. Put the robot up on blocks and turned wheel 10 times and get raw pulse count. Both wheels in the test indicate 780 pulses per wheel revolution.
We ended up building a second identical robot and ordered two additional optical encoders from andymark. Same exact results in that it appears to be 780 pulses per wheel revolution.
In theory the gearing ratio could be 2.166667 from the wheel to the rotation of the optical encoder shaft and the reason for the non integer multiplier. Always feel better when you have nice integer multipliers.
|