**diff options**

author | Nicolas Schodet | 2008-04-29 21:35:52 +0200 |
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committer | Nicolas Schodet | 2008-04-29 21:35:52 +0200 |

commit | c2f9b6a00b3fd23aa01c668725638800a28c540c (patch) | |

tree | 6c20ff8178baf52758282d760dd457a9089661d1 /digital/asserv/doc | |

parent | e66b2be46fe5cd7bdf2045095d480903e06a93d4 (diff) |

* digital/asserv/tools:

- updated parameters after encoder wheel change.

Diffstat (limited to 'digital/asserv/doc')

-rw-r--r-- | digital/asserv/doc/parameters.txt | 4 |

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. |