Dynamixel encoders for publishing odometry

asked 2020-03-03 09:44:46 -0500

Tahir M. gravatar image

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).

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Hello Tahir, did you find something that solved your problem?

al_ca gravatar image al_ca  ( 2020-09-16 08:42:51 -0500 )edit

Hi yes. I got the representation. For one turn its 1024 ticks. 1 encoder tick = present_position + 1024.

Tahir M. gravatar image Tahir M.  ( 2020-09-17 08:58:35 -0500 )edit