# Steering Control- Angle output

18 years 5 months ago #4067423 by Reta
Steering Control- Angle output was created by Reta
I guess I am kind of confused on what commands to send the controller when I need to turn the wheels a certain angle.

If I needed my wheels to turn in a certain angle, say 15 degrees. If I convert that to hexadecimal and send it to the controller, will my position change by 15 degrees or is there an equation that I need?

Also in reading the speed of the encoder, is that in MPH?

I'll appreciate a response. Thank you!

Reta

18 years 5 months ago #4097310 by cosma
Replied by cosma on topic Re:Steering Control- Angle output
<P style="MARGIN: 0px">To turn the motor to a given angle, the controller must first be set to operate in position mode and have a device to sense the actual position. This can be a pot or an encoder, keeping in mind that the encoder gives you a relative count rather than an absolute position.
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<P style="MARGIN: 0px">If using a pot for feedback, then the min measured position will be -127, and the max measured position will be +127. The command you give will cause the motor to position inbetween these two extremes. How many degrees that is depends on the mechanical coupling between the motor and the pot.
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<P style="MARGIN: 0px">If using an encoder, the idea is about the same with a few important differences that are best explained in the manual.
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<P style="MARGIN: 0px">Measured speed is a relative number expressed in 128th's of the max RPM. Best is to look at the manual for a detailed discussion.

18 years 5 months ago #4159677 by Reta
Replied by Reta on topic Re:Steering Control- Angle output
<P style="MARGIN: 0px">Thank you! I should have read more before I asked.
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<P style="MARGIN: 0px">Yes we are using position for the motor and quadrature encoders in a closed loop. Again, Thank you!
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<P style="MARGIN: 0px">Reta