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 How to adjust factor?
12-01-2016, 09:14 AM
Post: #11
 Jim BK Junior Member Posts: 2 Joined: Nov 2016 Reputation: 0
RE: How to adjust factor?
(10-11-2016 09:11 AM)KomX Wrote:
(10-11-2016 07:34 AM)wshlin Wrote:  Prescaler = 8
1 / (16 000 000 /8) = 1 / 2 000 000 = 0.000 0005 sec/per cycle
----> 0.5 us/per cycle
It's right.

Quote:23Khz
1 / 23000 = 0.0000434783 sec
0.0000434783 / 0.0000005 -1 = 86.9565217391 = 86
2000000 / 86 = 23255
23255 / 500 = 46.511 = 46 // this is adjust factor

As above, my understanding is correct？
Not entirely correct.

Wheel diameter 100 mm.
Microstepping - 16
Angle step - 1.8 degrees
One turn of the wheel = Pi * D = 314.15652 mm or 16 * 360 / 1.8 = 3200 microsteps.
500 * 46 = 23000 - the maximum frequency of the selected authors microsteps.
23000/3200 = 7.1875 - the maximum number of revolutions of the wheel.
314.15652 * 7.1875 = 2258 mm / s or 8.1288 km / h - top speed.
Hi guy,
why in this line, we dont use "speed" to calculate actual_robot_speed instead of speed_M1, speed_M2? The unit of speed is step/s, isn't it?
PHP Code:
`actual_robot_speed = (speed_M1 + speed_M2) / 2; `
and what 's actual_robot_speed 's unit?
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