Setting Velocity

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. When working with encoder setting a velocity is recommended over setting a power level, as it offers a higher level of control.

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

Recall that setVelocity is measure in ticks per second.

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

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

Create a new variable called TPS. Add the to the op mode under the comment block.

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 to the left side of the block and 60 to the right side.

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

With the velocity set, this is the final thing needed to complete the objective of driving in a straight line. Consider adding telemetry and other hardware components as you begin fleshing out your full autonomous code.