Setting Velocity

Setting Velocity in our Program

Velocity is a closed loop control within the SDK that uses the encoder counts to determine the approximate power/speed the motors need to go in order to meet the set velocity.

To set a velocity, its important to understand the maximum velocity in RPM your motor is capable of. For the Class Bot V2 the motors are capable of a maximum RPM of 300. With a drivetrain, you are likely to get better control by setting velocity lower than the maximum. In this case, lets set the velocity to 175 RPM!

Since RPM is the amount of revolutions per minute, a conversion needs to be made from RPM to ticks per second (TPS). To do this, divide the RPM by 60 to get the amount of rotations per second.

Rotations per second can then be multiplied by COUNTS_PER_WHEEL_REV, to get the amount of ticks per second.

$$TPS = \frac{175}{60} * CPWR$$

Adding Ticks per Second as a Variable

Create a new variable called TPS. Add the to the beginning of the if/then statement above the target variables.

Adding the TPS variable

Add a block to the block. On the right side of the block add the . One the left side of the add the block.

Add the chosen RPM (175 in this example) to the left side of the block and 60 to the right side.

Changing from Power to Velocity

Now that the target ticks per second has been set, swap the block for a block. Add the to both motors.

Setting our motors to run the specific velocity

With the velocity set, let's give our program a test run after saving!

Full Program

Full encoder demo Blocks program