>
>
> I realized this morning that while I mentioned the pulses per
revolution, I
> didn't mention the revolutions per second, so the pulses per second
couldn't
> be calculated.
>
> Unfortunately, I haven't tested what the revolutions per second actually
> comes out to, but I believe it would be variable depending on the
speed I
> have set for the motors. Unfortunately, I think that the top speed
could be
> as fast as 2 rps, which could mean that the pulse rate could be well
over
> 1KHz, and even if my estimate is excessive, I would come close to
the 1KHz
> rate. What this might mean is that I can measure the pulses per
second at a
> few low speeds, and figure out a curve of speed setting vs true speed,
> though I suspect it won't be linnear.
>
> Which object(s) in what configuration would get me the maximum
resolution? I
> suppose if I had an oWord filling with a pulse count each second,
that might
> be easiest, but it appears that there are a couple of pulse counting
> options.
>
Here is some sample odometry code for an optical encoder and a 'bot
with servo motors:
http://www.nubotics.com/support/ww01/code/oopic/ww01_oopic2p_square.osc.php
My suspicion is that the servos drive right to the limit of the OOPic
capability.
High speed counting using oCounter2H is limited to a single IOLine : #
16. Not very useful in this application...
Richard
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