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wheelReduction.txt
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wheelReduction.txt
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8192 CPR encoders
15:96 reduction = 6.4:1
200 mm dia wheels, 628.32 mm circumference
360 mm width between wheels
=================================
driving forward:
1 revolution = 628.32 mm travelled
= 6.4 motor revolutions
= 52,428 encoder counts
----
each mm travelled:
= 52,428 / 628.32
= 83.44 counts per mm
----
1.592 revolutions = 1 metre travelled
83,466 encoder counts
----
each metre/sec = 83,466 encoder counts/sec
=================================
turning:
2pi radians = 360' and pi radians = 180'
distance each wheel has to go to travel 180'
= circumferece of width between wheels / 2
= (360mm * pi) / 2
= 1130.97 mm circumference / 2
= 565.48 mm half circumference (= 180')
= pi radians
----
565.48 mm = 0.9 wheel revolutions
= 5.78 motor revolutions
= 47411 encoder counts
= pi radians (= 180')
----
1 radian = 47411 / pi
= 15091 encoder counts
----
each radian/sec = 18691 encoder counts/sec, ON BOTH WHEELS IN OPPOSITE DIRECTIONS