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<p>Hi Pat,</p>
<p>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.</p>
<p>For the second question, yes you are correct, that should be
divided by clicks per inch, not multiply.</p>
<p> My bad. Wonder what else I got wrong...</p>
<p>thanks!</p>
<p>David</p>
<p><br>
</p>
<p><br>
</p>
<div class="moz-cite-prefix">On 8/18/21 4:41 PM, Pat Caron via
DPRGlist wrote:<br>
</div>
<blockquote type="cite"
cite="mid:CA+mr86c7jcJhuYGao8Cvf=UCUdjo1ft=VM7mfXxroNfuO51RTg@mail.gmail.com">
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<p style="background-color: #f4eaa5;color: #000000
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#000000; font-size: large; font-family: sans-serif;"><strong><em
style="font-size: 11px;"> [EXTERNAL SENDER]</em></strong></p>
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<div class="gmail_default" style="font-size:small">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.</div>
<div class="gmail_default" style="font-size:small"><br>
</div>
<div class="gmail_default" style="font-size:small">left_inches =
read_left_encoder() * LEFT_CLICKS_PER_INCH;<br>
<br>
</div>
<div class="gmail_default" style="font-size:small">Can someone
clarify if read_left_encoder() is this the cumulative encoder
count or the encoder count since the last check (delta count)?</div>
<div class="gmail_default" style="font-size:small"><br>
</div>
<div class="gmail_default" style="font-size:small">The
other question is left_inches = read_left_encoder() *
LEFT_CLICKS_PER_INCH. Would this not be divided by
LEFT_CLICKS_PER_INCH?</div>
<div class="gmail_default" style="font-size:small">distance one
wheel = encoder count / clicks per inch</div>
<div class="gmail_default" style="font-size:small"><br>
</div>
<div class="gmail_default" style="font-size:small">Regards,</div>
<div class="gmail_default" style="font-size:small">Pat</div>
</div>
<br>
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