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Re: Control testing
The easy way to get distance per count is to: - Add a readout of the raw encoder value (essentially set distance per count = 1)
- Layout a tape measure
- Push your robot slowly 5 or 10 feet (or if it's an arm measure the rotation)
- Divide count readout by inches pushed to get distance per count in inches.
- Repeat to verify
You can calculate the value by knowing: - The number of counts per revolution of your specific encoder (all transistions for 4x)
- gear reduction through transmission starting at the encoder mount point (not necessarily matched to the motor shaft rotation)
- sprocket reduction between the output shaft and the wheel
- The wheel circumference
- Verify as before with a tape measure, readout, and pushing the robot a known distance
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"Rationality is our distinguishing characteristic - it's what sets us apart from the beasts." - Aristotle
Last edited by Mark McLeod : 17-11-2011 at 11:51.
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