Conversions¶
Encoder2Pose¶
Here are the necessary parameters and calcualations for conversion of encoder ticks to robot pose.
| Name | Value | Description | |
|---|---|---|---|
| Robot Parameters | wheelbase (bias) | 230mm | length between the centre of the wheels |
| wheel radius | 35mm | ||
| wheel width | 21mm | ||
| Magnetic Encoder | ticks per revolution | 52 tick/rev | |
| pulses per revolution | 13 pulse/rev | ||
| Gear Box | 1st stage | 1:10 | |
| 2nd stage | 22:12 | ||
| 3rd stage | 30:11 | ||
| 4th stage | 35:12 | ||
| 5th stage | 34:1 | ||
| resultant ratio | 6545/132 = 49.5833 | 6545 turns of motors(or encoders) will make 132 turns of wheels | |
| Conversions | ticks to metres | 0.000085292090497737556558 m/tick | |
| ticks to radians | 0.002436916871363930187454 rad/tick | ||
| metres to ticks | 11724.41658029856624751591 tick/m | ||
| radian to ticks | 11.72441658029856624751591 tick/mm |