Encoder check - NTheuws/linorobot2_software GitHub Wiki

On the robot computer, open your terminal and run:

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>
screen /dev/ttyACM0

Type sample and press the enter key. Verify if all the wheels are spinning forward. Redo the previous step if there are motors still spinning in the opposite direction.

You'll see a summary of the total encoder readings and counts per revolution after the motors have been sampled. If you see any negative number in the MOTOR ENCODER READINGS section, invert the encoder pin by setting MOTORX_ENCODER_INV in lino_base_config.h to true. Reupload the calibration firmware to check if the encoder pins have been reconfigured properly:

cd linorobot2_hardware/calibration
pio run --target upload -e <your_teensy_board>
screen /dev/ttyACM0

Type sample and press the enter key. Verify if all encoder values are now positive. Redo this step if you missed out any.

On the previous instruction where you check the encoder reads for each motor, you'll see that there's also COUNTS PER REVOLUTION values printed on the screen. If you have defined MOTOR_OPERATING_VOLTAGE and MOTOR_POWER_MEASURED_VOLTAGE, you can assign these values to COUNTS_PER_REVX constants in lino_base_config.h to have a more accurate model of the encoder.

Previous step: Motor check

Next step: Create connection