NEX ROBOTICS SPARK V ATMEGA16 Hardware Manual page 23

Position encoder resolution: 219.80 mm / 17 = 12.92mm / pulse.
Case 2: Robot is turning with one wheel rotating clockwise while other wheel is rotating
anti clockwise. Center of rotation is in the center of line passing through wheel axel and
both wheels are rotating in opposite direction (encoder resolution is in degrees)
Distance between Wheels = 11.6cm
Radius of Circle formed in 360
Distance Covered by Robot in 360
Number of wheel rotations in 360
0
Total pulses in 360 Rotation of Robot
= Number of slots on the encoder disc / Number of wheel rotations of in 360
= 17 x 1.65
= 28.05 (approximately 28)
Position Encoder Resolution in Degrees = 360 / 28
Case 3: Robot is turning with one wheel stationary while other wheel is rotating clockwise
or anti clockwise. Center of rotation is center of the stationary wheel (encoder resolution is
in degrees)
In this case only one wheel is rotating and other wheel is stationary so robot will complete its
0
360 rotation with stationary wheel as its center.
Radius of Circle formed in 360
Distance Covered by Robot in 360
Number of wheel rotations of in 360
0
Total pulses in 360 Rotation of Robot
= Number of slots on the encoder disc / Number of wheel rotations of in 360
= 17 x 3.312
= 56.304 (approximately 56)
Position Encoder Resolution in Degrees = 360 /56
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
0
rotation of Robot = Distance between Wheels / 2
0
Rotation = Circumference of Circle traced
0
rotation of robot
= Circumference of Traced Circle / Circumference of Wheel
= 364 / 219.80
= 1.65
= 12.85 degrees per count
0
rotation of Robot = Distance between Wheels
0
Rotation = Circumference of Circle traced
0
rotation of robot
= Circumference of Traced Circle / Circumference of Wheel
= 728 / 219.80
= 3.312
SPARK V ATMEGA16 Hardware Manual
= 5.8 cm
= 2 x 5.8 x 3.14
= 36.4 cm or 364mm
= 11.6 cm
= 2 x 11.6 x 3.14
= 72.848 cm or 728 mm
0
rotation of robot
0
rotation of robot
23