I’m interested in using PathWeaver / PathFinder and have a question about the units.
In Pathweaver, I have my units set to inches.
I’ve noticed that the EncoderFollower object asks wheel diameter to be set in meters. Just to be clear, I should use inches since the path is generated with inches in mind, correct?
Edit:
Another question: should the max velocity (when setting the PIDVA gains) be set in in/s, rpm, rps?
Correct: you should use inches. Always stay consistent with your units
I would assume that the EncoderFollower measures velocity as the change in encoder position per trajectory point.
That being said, should the measured max velocity be recorded in encoder ticks / time step or should it be scaled to units (inches or meters)/sec?
This topic was automatically closed 365 days after the last reply. New replies are no longer allowed.