wheel encoder algorithim
cmfranks
Posts: 4
···I have a question regarding·"Applying the Boe-Bot Digital Encoder Kit" documentation.· Under "coordinated motion" Mr. Pilgram gives the algorithim:
C(Wheel) * D(Other Wheel) + D(Wheel)·< C(Other Wheel) * D(Wheel) + D(Other Wheel)/2
·· C is the number of encoder pulses left for the robot.· This I understand.· However, he says D is the total distance left.· My question is, "Is D a mesurement of distance in inches/millimeters/ect.. or does it coorespond to the encoder pulses left as well?"
Example:
·9 (eps left) * 10 (in) + 9 (eps left) < 9 (eps left) * 9.5 (in) + 10 (in) / 2
Here C and D(Wheel) is measured by the number of encoder pulses left and distance left is measured in inches.· Is this correct?
·
C(Wheel) * D(Other Wheel) + D(Wheel)·< C(Other Wheel) * D(Wheel) + D(Other Wheel)/2
·· C is the number of encoder pulses left for the robot.· This I understand.· However, he says D is the total distance left.· My question is, "Is D a mesurement of distance in inches/millimeters/ect.. or does it coorespond to the encoder pulses left as well?"
Example:
·9 (eps left) * 10 (in) + 9 (eps left) < 9 (eps left) * 9.5 (in) + 10 (in) / 2
Here C and D(Wheel) is measured by the number of encoder pulses left and distance left is measured in inches.· Is this correct?
·