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My love is autonomous when you enter the room.  |
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#5
Yesterday, 03:25
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Re: encoder PIDController and set
I'm sorry for any confusion I caused. It's late at night over here and I forgot to check over my work. Haha. If you know the number of pulses per revolution, you therefore know the number of radians per pulse.
RPP = 2*pi/PPR. Knowing this, combined with d = Θr, we know that each pulse will travel us a linear distance of RPP * r. In your case, this would be (2 * pi)/(1440) * 10 cm, for a 10 cm radiused wheel. 
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