small 2 wheeled robot car
a third wheel (ball caster) for balance
5" wide, rotate on the center point between the wheels
3" diameter wheels
motor like one of these in the 90 rpm to 270 RPM range:
https://www.servocity.com/motors-actuat ... h-encoders
For various RPMs and percentages of the RPM I have spent a lot of time figuring out how to calculate times and pulse counts to rotate 90 degrees.
For a 90 RPM motor running at 25% of its no load RPM it theoretically should take about 1.1 seconds and 744 pulses to reach 90 degrees.
I looked at another motor controller. It has two functions for reading encoder values:
- #1: the values read are updated every 1/8 of a second but "the three least significant bits are padded with zeros", which I think means are set to zero, i.e. the values are rounded DOWN to a multiple of 8.
- #2: the values are updated every second, no "padding" of bits, but if I read at the 1.5 second mark, I get the 1 second value.
I've read this topic:
Question #2: Does that imply that I should look for a different encoder than the hall effect encoders on the ServoCity like motors OR stick with hall effect encoders for this first project.