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Author Topic: Confirm Rotary Encoder Equations  (Read 1354 times)
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Can someone confirm to me that these equations are correct, for a differential drive movement where two encoders are recording ticks.

distanceMoved = pi * Radius of Wheel * (Right_Click + Left_Click) / resolution of encoder.

Thanks
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Well I would say it was:-
distance moved = pi*Dia * (number of pulses / number of pulses per revolution )

I suppose that is what you said.
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Quote
for a differential drive movement where two encoders are recording ticks.

As it is for a differential drive you should take the average of the two counters.

distance  = PI * Diameter * (#pulses LEFT + #pulses RIGHT) / ( 2 * number of pulses per revolution ) ;

Note: diameter /2 = radius

distance  = PI * Radius * (#pulses LEFT + #pulses RIGHT) / ( number of pulses per revolution ) ;


Assumption: the wheels are equal in size smiley

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Rob Tillaart

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