Encoder Rate Test 4.07.2010One encoder usedPrintf( GetDistance(), GetRate(), (GetDistance()-GetDistance()_last)/dt)Statement called at 10 hz in iterative robot loopKit Encoder, mounted in toughbox27.2gear ratio to CimMax rpm should be about 5000/27.2= 196rpmMax rate should be 6.8fpsDerived GetRate GetRate GetRateSummary 1x,2x,4x 1x 2x 4xavg_fps 1.24 4.4 4.46 4.7 The GetRate()'s have spikesstdev_fps 0.27 5.5 5.5 5.4Note: Derived is delta distance/dt where dt is .1 secondGetRate() is the instantaneous encoder returned rateData exhibits consistent spikes which skews the average and stdev data.The avg derived rate is low by 6.8/1.2 = 5.7 factor. This is unexplained

 

x1 Encoder RateFull Forwardtime GetDistance GetRate Derived Rate GetRate/Derived Rate0 0.65 12.86 0.74 17.470.1 0.78 2.24 1.31 1.710.2 0.93 1.06 1.50 0.710.3 1.02 0.17 0.87 0.190.4 1.18 2.27 1.55 1.460.5 1.32 11.81 1.45 8.170.6 1.41 1.59 0.93 1.710.7 1.57 2.18 1.61 1.360.8 1.70 0.44 1.23 0.350.9 1.81 1.80 1.09 1.651 1.96 2.21 1.55 1.421.1 2.08 1.61 1.15 1.401.2 2.19 1.80 1.12 1.611.3 2.35 2.26 1.58 1.431.4 2.46 -11.75 1.15 -10.261.5 2.58 1.78 1.17 1.521.6 2.74 2.16 1.61 1.341.7 2.83 13.11 0.95 13.741.8 2.95 12.51 1.15 10.921.9 3.11 12.12 1.55 7.802 3.18 1.82 0.65 2.782.1 3.31 2.22 1.34 1.662.2 3.45 2.18 1.34 1.632.3 3.54 0.15 0.90 0.172.4 3.69 2.25 1.55 1.452.5 3.83 12.12 1.34 9.072.6 3.91 4.29 0.85 5.072.7 4.07 2.16 1.55 1.392.8 4.18 0.44 1.17 0.382.9 4.29 12.68 1.06 11.933 4.45 2.22 1.58 1.413.1 4.56 1.58 1.12 1.423.2 4.66 13.30 1.04 12.843.3 4.82 2.19 1.53 1.433.4 4.93 1.60 1.12 1.433.5 5.04 1.63 1.12 1.453.6 5.19 2.11 1.53 1.383.7 5.28 2.50 0.90 2.783.8 5.40 12.86 1.15 11.233.9 5.55 2.25 1.58 1.424 5.63 12.34 0.79 15.604.1 5.75 13.50 1.15 11.794.2 5.91 6.54 1.53 4.284.40 1.24 3.95avg5.36 0.27 5.25stdev0 0.5 1 1.5 2-15.00-10.00-5.000.005.0010.0015.00

1x Full For 

time sec

 

Full Reversetime GetDistance GetRate Derived Rate GetRate/Derived Rate0 5.91 -11.32 -1.01 11.210.1 5.76 4.18 -1.55 -2.690.2 5.64 -1.27 -1.15 1.110.3 5.52 -11.60 -1.20 9.670.4 5.37 4.27 -1.55 -2.750.5 5.25 -2.06 -1.15 1.800.6 5.13 -10.86 -1.17 9.270.7 4.98 4.27 -1.53 -2.790.8 4.89 -3.11 -0.95 3.260.9 4.75 -11.32 -1.31 8.641 4.61 -10.86 -1.47 7.381.1 4.52 -12.45 -0.79 15.751.2 4.38 -11.13 -1.47 7.561.3 4.26 -14.20 -1.17 12.111.4 4.19 -0.12 -0.71 0.171.5 4.04 4.16 -1.50 -2.771.6 3.92 -1.42 -1.12 1.271.7 3.80 -11.00 -1.15 9.601.8 3.65 4.27 -1.58 -2.701.9 3.54 -2.11 -1.06 1.982 3.43 -11.18 -1.09 10.252.1 3.28 4.20 -1.55 -2.702.2 3.17 -12.86 -1.06 12.092.3 3.05 -11.00 -1.12 9.832.4 2.90 4.24 -1.53 -2.782.5 2.81 -12.12 -0.90 13.472.6 2.67 -11.32 -1.39 8.142.7 2.54 -6.92 -1.36 5.082.8 2.47 -12.12 -0.68 17.782.9 2.32 -4.18 -1.47 2.843 2.20 -2.50 -1.15 2.193.1 2.10 -10.61 -1.04 10.243.2 1.94 4.20 -1.55 -2.703.3 1.84 -2.09 -1.09 1.92-5.23 -1.22 5.08avg6.70 0.26 6.13stdev1x Slower Forward Speedtime GetDistance GetRate Derived Rate GetRate/Derived Rate0 1.22 0.29 0.11 2.700.1 1.28 2.42 0.57 4.220.2 1.30 0.67 0.25 2.720.3 1.35 0.00 0.52 0.000.4 1.39 0.68 0.33 2.070.5 1.46 -5.19 0.76 -6.800.6 1.54 1.06 0.76 1.390.7 1.58 0.81 0.35 2.290 0.5 1 1.5-20.00-15.00-10.00-5.000.005.0010.00

1x Full Rev