Wheel Encoder Calibration

Casey_SCU

I am using the calibration code for the wheel encoders as presented in the "Applying the Boe-Bot Digital Encoder Kit" document. I have been looking over the document for about 1.5 days and am still confused as to what is being calibrated, how it is being done, and how to adjust the lighting levels to accomplish the angle calibration. I have tried a number of lighting situations and have only be able to get half of the data for the angle calibration. My velocity calibration works with no problems though.
Also, I am confused as to what the DATA statements from the velocity calibration do for any programs that I copy that into.
Any further detailed explanation of applying the encoders would be greatly appreciated.