Template:DCMotor RescaleExamples

Generally, most users will prefer units of degrees or rotations. To determine an appropriate Rescale Factor, you will need to know the following values:

• Encoder pulses per revolution, equivalent to 4x the counts per revolution (CPR)
• Gearbox ratio (if applicable)

These values will be available from manufacturer data sheets, or directly on the motors/encoders.

Converting to Degrees

Specifications of system:

• Motor gear ratio: 76:1
• Encoder quadrature cycles per revolution (CPR): 300
• Encoder pulses per revolution = 300*4 = 1200
• Preferred Units: Degrees

Rescale Factor = 360 / (76*1200) = 0.003947368421

Converting to Rotations

Specifications of system:

• Motor gear ratio: 76:1
• Encoder quadrature cycles per revolution (CPR): 300
• Encoder pulses per revolution = 300*4 = 1200
• Preferred Units: Rotations

Rescale Factor = 1 / (76*1200) = 0.00001096491228