BALA2 Fire encoder question
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The question is : how exactly many pulses produce encoder per 1 full revolve of the wheel ?
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@slavav this one:
https://docs.m5stack.com/en/app/bala2fire
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It seems not to appear on spec-sheet.If you have one in your possession, make a test-program to count it yourself ?
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i actually wrote test. And it produce surprisedly big number: ~400. It is pretty difficult to adjust wheel to exactly same position after 1 revolt. So the value vary like: 415, 410, 412 ...
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Are you counting incremental with both A and B pulses?
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I'm using just one wheel:
// Get motor encoder value
bala.UpdateEncoder();
encoder = bala.wheel_left_encoder; -
There is an A & B pulse from each wheel.
I think you'll need to acquaint yourself with Quadrature Encoders.A quick check to do:
Try to make two temporary but firm mechanical stops with say 100 degrees distance (not important to know the exact angle between them) and then repeatedly move the wheel between the stops. You should get the same two values (+/- 1 or 2) every time at each stop.