Quote:
Originally Posted by mhsrobotics3616
that's what confuses me. because joystick output would give me a setpoint between +- 100, how does the encoder correspond to that.
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You would just need to scale the joystick and the encoder so that they both map to the same range, and would have the same value when the arm was at the commanded position. If it's an arm with a limited range of motion, you might want to use something that provides an absolute measure of the arm angle such as a potentiometer or magnetic sensor, instead of a relative-position measurement such as a quadrature encoder.