[psh]

We played around with the encoders today, attached to the Banebot RS-540. There were a couple of things we wanted to determine:

1. Was the interrupt rate high enough (without divider) to disrupt the rest of the processor?

2. How big was the delta between motors going forward versus backward? There was some speculation on the team that the motors would only be capable of doing about 80% of the speed backwards.

Our initial tests, using Kevin's excellent code, concluded that it was a piece of cake to get things up and running. The interrupt rate did not appear to be too disruptive. In fact, I was not able to see a huge impact on available "idle" CPU with two motors genrating a bit over 1K interrupts/sec.

Also, we found that the reverse speed of our motors were about 98-99% of the forward speed. We actually saw a greater difference between individual motors than the forward/backward difference of a given motor.

We are by no means done testing, but those are our preliminary findings. We reserve the right to revise them dramatically :-)

>Per