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Re: Help Programming a Quadrature Encoder
Quote:
Originally Posted by Bomberofdoom
You mean there's a difference between putting the encoder on the left side or the right side of the gear/wheel?
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Part of why a robot seems to drift to the left or right when driving near full speed is that motors have a "bias". This means that they spin more efficiently in one direction than the other. Now I will point out, the CIM motors in the KOP are not a good example of this because they have very little bias, but they do have some. The reason you notice the effect of this bias is because usually one motor is turning CW while the other is turning CCW to drive a robot forward. So...... one encoder will be going CW while the other is going CCW for the same direction of drive.
Again, this is really simple to handle in the ISR. For the same direction of travel make sure both encoders are incrementing, and decrementing for the opposite direction.
Read through Kevin Watson's encoder code, this is all spelled out clearly.
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CalGames 2009 Autonomous Champion Award winner
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2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
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