Dynamixel encoders for publishing odometry
I have a differntial drive robot with 4 active wheels having XL430-w250-t dynamixel servos. The servo has an encoder whose readings I think so are stored in Present Position. After reading the values from present position register, I am not able to understand what these represent and how can I convert these values to encoder ticks for odometry.
One more question how can I consider two motors on each sides in the finding the odometry (both motors are dynamixel servoes and their registers can have different values).
Hello Tahir, did you find something that solved your problem?
Hi yes. I got the representation. For one turn its 1024 ticks. 1 encoder tick = present_position + 1024.