path: root/digital/asserv/doc/parameters.txt
diff options
Diffstat (limited to 'digital/asserv/doc/parameters.txt')
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/asserv/doc/parameters.txt b/digital/asserv/doc/parameters.txt
index e2a7c894..3aced78e 100644
--- a/digital/asserv/doc/parameters.txt
+++ b/digital/asserv/doc/parameters.txt
@@ -13,6 +13,8 @@ Select a flat, clean and long (2 to 10 meters) surface, then position the
robot precisely on a starting line. Draw a parallel line at the other end and
measure distance between the two lines.
+Be sure not to have any correction factor set.
Now, reset the robot counters and start monitoring left counter value. Drag
the robot as linearly as possible until it reaches the final line. While
doing this, remember any counter overflow or try to calculate how many
@@ -75,7 +77,7 @@ by the two encoders to do the number of turns.
The encoders footing is given by::
- difference / 2 / pi
+ difference / number_of_turns / 2 / pi
The ``2`` divider is there because we summed the distance traveled by both
encoders. Then we divide by ``pi`` to get the diameter.