Confirm Rotary Encoder Equations

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

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.

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 :slight_smile: