Need Help on Fulrot and Bradsper Caculations for Encoders

Longneck

·I am programming my Boe-Bot to use the digital encoders. They make the bot run the patterns using the given programs , but set for 90 degrees they over turn by approx. 100 degrees. Also It doesn't run truly straight . The instructions say to adjust FULROT slightly , and then divide this by Bradsper. I'm not sure how to compensate for errors , and don't want to get overly confused. Does anyone have an example of how to make calculation corrections for these encoders? Thanks , Longneck

Mightor

Longneck,

Did you follow the experiments in the Applying the Boe-Bot Digital Encoder Kit document? Have a look in particular at CALIBRATE_ALL.bs2. If you run it and paste those values into that Windows program (Calibrate_All.exe), the FULLROT values and others, will be calculated for you. You can then check your handiwork with WHEEL_MOTION.bs2.

Gr,
Mightor

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Longneck

Thanks for your reply Mightor , Yes I am following the experiments in he Dig. Encoder Docs. I have run the Calibrate_ All.bs2 prog . , and have them as replacements for the readings Mr. Pilgrim used in his doc. I also have replaced the Fulrot , Bradsper , and Sdirinc with my Calibrate _ All readings. I now am running this modified ( my readings) of Wheel_Motion. bs 2. As I understand this documentation (pages 26 &28) , errors are corrected by taking a "guestamate" of the amount of change to FULROT , then dividing [noparse][[/noparse]dec] 1048676 divided by this Fulrot estimation , thus recalculating BRDSPER.
On page 28 , it states "If it overshoots , Decrease the constant FULROT a little , and recaculate BRDSPER...IF it comes up short , adjust the other way.
I am not adverse to experimenting with these values . I hoping for guidance as to how much to decrease Fulrot(whats a small tweak to a hex # in this case)If 64 brads is a 90 degree angle , and I get approx. 100 degrees , am I 'overshooting in Brads or falling short? In adjusting for Bradsper in relation to turns , how will this effect running true in a straight line. I would be happy if I could just have these encoders give me true 90 deg. turns in either direction , a 180 deg about face , and straight line travel with error correction to reach a destination for now. My Boe-Bot is a learning platform , but my next BOT will use HB-25s with DC motors to increase travel speed and possibly increase torque to carry more weight. Any help would be appreciated.
Longneck

Longneck

Opps , Just tryting to add attachment.....Longneck