Thread: Unexpected results from Encoder::GetRate()
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Unread 03-26-2010, 08:06 PM
Bigcheese Bigcheese is offline
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Re: Unexpected results from Encoder::GetRate()
Encoder::GetRate() in 4x mode returns crap. And by crap I mean the value returned is proportional to the speed of the robot, but I know our bot is not going 80 feet per second (55 mph)... I tried changing (4x mode) to return:
Code:
value * 1.0e-6  / DecodingScaleFactor()
Instead of:
Code:
value * 1.0e-6  / (DecodingScaleFactor() * 4)
Which lowered the error, however it is still way too high.

I know I can just multiply the returned value by some gain, but I'd rather have the code actually be right. I'm about to go chuck the dang thing up in the lathe so I know what the value returned should be, and work from that.
Last edited by Bigcheese : 03-26-2010 at 08:08 PM.
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