Quote:
Originally Posted by tseres
question: in the encoder code, how can it tell velocity? do i have to count the ticks over a certain time? an example is if i have an encoder on my two drive wheels and i want them to go the same speed. i would know how to adjust the motor speed, but how do i get the actual wheel velocity from the encoder?
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ticks/time is the way to go. The velocity is a translation of ticks to wheel
circumference. It helps if you have a fair number of ticks/rev so you can keep the time interval short. Otherwise, it is hard to differentiate stopped (0 velocity) from very slow. A short interval also reduces issues raised by velocity change during the counting interval. The problem with large # of ticks though is you get flooded with interrupts if the robot is moving quickly.
You need to optimize based on what you want to accomplish. Understanding what you are using the velocity value for (and how accurate you need it to be) should be a driving factor in setting up your encoder code.