path: root/digital/asserv/doc
diff options
authorNicolas Schodet2008-04-29 21:35:52 +0200
committerNicolas Schodet2008-04-29 21:35:52 +0200
commitc2f9b6a00b3fd23aa01c668725638800a28c540c (patch)
tree6c20ff8178baf52758282d760dd457a9089661d1 /digital/asserv/doc
parente66b2be46fe5cd7bdf2045095d480903e06a93d4 (diff)
* digital/asserv/tools:
- updated parameters after encoder wheel change.
Diffstat (limited to 'digital/asserv/doc')
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.