Motor encoder test #2
Description
I've executed a few tests with the robot's motors and encoders and the results are shown below.
The encoder measures indicate the signal frequency in each on of the channels. The level edges frequency is 4 times higher since there are 2 encoder channels and each one gives a rising and a falling.
The out shaft frequency was measure with a IR sensor in the gearbox output shaft and the Wheel shaft is measured in the same way but at the wheel hub. The frequency in the wheel is higher due the gear ratio is to increase speed.
| Voltage | enc Khz | enc Hz | out shaft Hz | wheel shaft Hz |
|---|---|---|---|---|
| 1 | 0,204 | 204 | 1,06 | |
| 2 | 0,416 | 416 | 2,2 | |
| 3 | 0,636 | 636 | 3,29 | |
| 4 | 0,86 | 860 | 4,58 | |
| 5 | 1,08 | 1080 | 5,58 | |
| 6 | 1,3 | 1300 | 6,75 | |
| 7 | 1,5 | 1500 | 7,89 | |
| 8 | 1,72 | 1720 | 9,05 | |
| 9 | 1,95 | 1950 | 10,19 | |
| 10 | 2,16 | 2160 | 11,37 | |
| 11 | 2,37 | 2370 | 12,35 | |
| 12 | 2,54 | 2540 | 13,39 | 17,4 |
Tyre diameter: 30mm