Adjust encoderStep defaults #468
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Congratulations on the pull request @johnboiles Now we need to decide as a community if we want to integrate these changes. Vote by giving this comment a thumbs up or a thumbs down. Votes are counted in 48 hours. Ties will not be merged. I'm just a robot, but I love to see people contributing so I'm going vote thumbs up! |
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This change came about while trying to figure out why the B02 command is not working properly. The "correct" value for encoder steps is 8113.73 (based upon work from a long while back). In firmware, the default value was 8113.7 and in GC, the default value is 8113.73. GC updates the firmware to set it to 8113.73. However, during troubleshooting the B02 command, I corrected the default value in FW to be 8113.73. It's an innocuous change. |
| @@ -125,7 +125,7 @@ void MotorGearboxEncoder::setEncoderResolution(float resolution){ | |||
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| _encoderStepsToRPMScaleFactor = 60000000.0/resolution; //6*10^7 us per minute divided by 8113.7 steps per revolution | |||
| _encoderStepsToRPMScaleFactor = 60000000.0/resolution; //6*10^7 us per minute divided by 8113.73 steps per revolution | |||
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Thanks for taking the time to update the comment too
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Time is up and we're ready to merge this pull request. Great work! |
@madgrizzle will have to chime in on the justification for this change. I just pulled it from his development branch!