I hope someone can help as I am rather confused over terminology.

I have 2 servocity motors whose encoder specs are as follows:

Encoder Cycles Per Revolution (Encoder Shaft) 7 (Rises of Ch A)

Encoder Cycles Per Revolution (Output Shaft) 374.325 (Rises of Ch A)

Encoder Countable Events Per Revolution (Encoder Shaft) 28 (Rises & Falls of Ch A & B)

Encoder Countable Events Per Revolution (Output Shaft) 1,497.325 (Rises & Falls of Ch A & B)

https://www.gobilda.com/5201-series-53- ... w-encoder/

I am also using

**roboclaw_ros**, which wants the following information:

max_speedMax speed allowed for motors in meters per secondticks_per_meterThe number of encoder ticks per meter of movement

Countable Events per Revolution is 4 times Encoder cycles per revolution, which is fine. However I am not able to find information explaining if the encoder speed in QPPS is the countable events, or the cycles per revolution. I need this to find the maximum speed in meters per second, and assumed I need to use the 374.325 figure (cycles), then use that to find degrees per pulse, then use v = omega * r to find tangential speed having found the pulses per second. Of course this will be wrong by a factor of 4 if I am using the wrong item - countable events or cycles per revolution. Other internet sources tell me that cycles are the same as pulses.

Should the QPPS figure from the motion control program be divided by 4 in the above calculation? I note that when rotating a motor by hand, I get about +1497 on the position, so I assume that uses "countable events". Is this true for the QPPS / speed too or does it use Cycles Per Revolution?

Secondly, what does the author of roboclaw_ros mean when s/he says "ticks"?

The use of three sets of terms terms between servocity, roboclaw and the ros node author has me quite stumped. Please can someone explain?