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Originally Posted by WizardOfAz
My concern about encoders was the CPU utilization, though I didn't much more than guess about this issue. Any estimates what it will take to track an encoder that reads 128 or better pulses per rev?
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Let's assume 15 ft/s with 6 in diameter wheels (very fast).
That's 9.55 rev/s or 1222 cycles/s.
Should be fine.
Also, (818.1 us/cycle) / (.1 us/instruction) = 8180 instructions/cycle
Assuming your int handler takes 10 instructions, 0.122% of your instructions are devoted to 1 of your encoders.
Heh, I think I got carried away with that calculation, but I was curious myself.