Ask Your Question
0

How can I convert PWM values to velocity?

asked 2019-09-08 03:52:36 -0500

manish0718 gravatar image

i am a newbie in ROS ,I am using a two wheel configuration bot in which I was directly providing PWM values to both the motors. Now i want to do GMapping , for that I need to convert those PWM values to velocities. How can I do that?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2019-09-09 07:15:28 -0500

PWM values do not map to velocity, they will map (possibly non-linearly) to torque in your case. You could produce a rough approximation by measuring the distance travelled using different settings. The correct way of doing this is do add encoders to your wheels.

edit flag offensive delete link more

Comments

After encoders are added, you will also end up needing PID controllers to correctly transform effort into velocity.

georgeknowlden gravatar imagegeorgeknowlden ( 2019-09-09 08:46:59 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2019-09-08 03:52:36 -0500

Seen: 28 times

Last updated: Sep 09