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.

@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]

@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]

@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.