encoder PIDController and set

[bmfrc]

Originally Posted by ollien

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.

In other words its circumference/ppr :-)