[Dprglist] Odometry Calculations

[David P. Anderson]

Hi Pat,

The answer to the first question is yes, and I see that was not very 
clear in the talk.  The read encoder drivers are returning the 
derivative of the encoder counts, i.e., the number of counts since the 
last reading, and not the cumulative count.

For the second question, yes you are correct, that should be divided by 
clicks per inch, not multiply.

My bad.  Wonder what else I got wrong...

thanks!

David



On 8/18/21 4:41 PM, Pat Caron via DPRGlist wrote:
>
> */[EXTERNAL SENDER]/*
>
> As I am frantically revising code for my outdoor-bot for Robo 
> Columbus, I am trying to calculate position and pose.  As I am 
> reviewing the notes from David Anderson's excellent presentation I 
> found the following and would like to clear up a couple things.
>
> left_inches = read_left_encoder() * LEFT_CLICKS_PER_INCH;
>
> Can someone clarify if read_left_encoder() is this the cumulative 
> encoder count or the encoder count since the last check (delta count)?
>
> The other question is left_inches = read_left_encoder() * 
> LEFT_CLICKS_PER_INCH.   Would this not be divided by LEFT_CLICKS_PER_INCH?
> distance one wheel = encoder count / clicks per inch
>
> Regards,
> Pat
>
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