Help with Talon Encoder velocity

[falconmaster]

Does anybody know what the units are for the velocity reported? we are getting 1040 for CIM hooked up to a Tough box nano with 12.75 to 1 ratio. Encoder has 360 counts per rev.

[BornaE]

Clarification: The encoder is connected directly to the talon.

Originally Posted by falconmaster

Does anybody know what the units are for the velocity reported? we are getting 1040 for CIM hooked up to a Tough box nano with 12.75 to 1 ratio. Encoder has 360 counts per rev.

[Ether]

Originally Posted by BornaE

Clarification: The encoder is connected directly to the talon.

Encoder counts per 100 ms. Paragraph 17.1 SRX Software Reference Manual

[falconmaster]

Thanks Ether, I will have a talk with my programmers....

[Ether]

Originally Posted by falconmaster

Encoder has 360 counts per rev.

If its a US Digital, "CPR" means Cycles Per Rev. Since the Talon counts all edges of both channels, that would be 4*360 = 1440 counts per rev.