Rather than attempt to measure, or estimate, the distance the robot moves, the encoder ticks can be converted from amount of ticks per revolution of the encoder to how many encoder ticks it takes to move the robot a unit of distance, like a millimeter or inch. Knowing the amount of ticks per a unit of measure allows you to set a specific distance. For instance, if you work through the conversion process and find out that a drivetrain takes 700 ticks to move an inch, this can be used to find the total number of ticks need to move the robot 24 inches.

Reminder that the basis for this guide is the Class Bot V2. The REV DUO Build System is a metric system. Since part of the conversion process references the diameter of the wheels, this section will convert to ticks per mm.

When using encoders built into motors, converting from ticks per revolution to ticks per unit of measure moved requires the following information:

Ticks per revolution of the encoder shaft

Total gear reduction on the motor

Including gearboxes and motion transmission components like gears, sprockets and chain, or belts and pulleys

Circumference of the driven wheels

Ticks per Revolution

The amount of ticks per revolution of the encoder shaft is dependent on the motor and encoder. Manufacturers of motors with built-in encoders will have information on the amount of ticks per revolution. For HD Hex Motors the encoder counts 28 ticks per revolution of the motor shaft.

Visit the manufacturers website for your motor or encoders for more information on encoder counts. For HD Hex Motors or Core Hex Motors visit the Motor documentation.

Total Gear Reduction

Since ticks per revolution of the encoder shaft is before any gear reduction calculating the total gear reduction is needed. This includes the gearbox and any addition reduction from motion transmission components. To find the total gear reduction use the Compound Gearing formula.

For the Class Bot V2 there are two UltraPlanetary Cartridges, 4:1 and 5:1, and an additional gear reduction from the UltraPlanetary Output to the wheels, 72T:45T ratio.

The UltraPlanetary Cartridges use the nominal gear ratio as a descriptor. The actual gear ratios can be found in the UltraPlanetary Users Manual's Cartridge Details.

Using the compound gearing formula for the Class Bot V2 the total gear reduction is:

Unlike the the spur gears used to transfer motion to the wheels, the UltraPlanetary Gearbox Cartridges are planetary gear systems. To make calculations easier the gear ratios for the Cartridges are already reduced.

Circumference of the Wheel

The Class Bot V2 uses the 90mm Traction Wheels. 90mm is the diameter of the wheel. To get the appropriate circumference use the following formula

You can calculate this by hand, but for the purpose of this guide, this can be calculated within the code.

Due to wear and manufacturing tolerances, the diameter of some wheels may be nominally different. For the most accurate results consider measuring your wheel to confirm that the diameter is accurate.

To summarize, for the Class Bot V2 the following information is true:

Each of these pieces of information will be used to find the number of encoder ticks (or counts) per mm that the wheel moves. Rather than worry about calculating this information by hand, these values can be added to the code as constant variables. To do this create three variables:

`COUNTS_PER_MOTOR_REV`

`DRIVE_GEAR_REDUCTION`

`WHEEL_CIRCUMFERENCE_MM`

The common naming convention for constant variables is known as CONSTANT_CASE, where the variable name is in all caps and words are separated by and underscore.

Add the variables to the initialization section of the op mode.

Now that these three variables have been defined, we can use them to calculate two other variables: the amount of encoder counts per rotation of the wheel and the number of counts per mm that the wheel moves.

To calculate counts per wheel revolution multiple`COUNTS_PER_MOTOR_REV`

by `DRIVE_GEAR_REDUCTION`

Use the following formula:

Where,

Once `COUNTS_PER_WHEEL_REV`

is calculated, use it to calculate the counts per mm that the wheel moves. To do this divide the`COUNTS_PER_WHEEL_REV`

by the `WHEEL_CIRCUMFERENCE_MM`

. Use the following formula.

Where,

`COUNTS_PER_WHEEL_REV`

will be created as a separate variable from`COUNTS_PER_MM`

as it is used in calculating a target velocity.

Create these variables in Blocks and add then to the op mode under the other constant variables.

Once`COUNTS_PER_WHEEL_MM`

is set, this completes the conversion process, and all constant variables are set.

In the previous section, the basic structure needed to use `RUN_TO_POSITION`

was created. The placement ofwithin the code, set the target position to 1000 ticks. What is the distance from the starting point of the robot and the point the robot moves to after running this code?

$\frac{3.61}{1} * \frac{5.23}{1} * \frac{72}{45} = 30.21$

$circumference = diameter * \pi$

Once the variables are created and added to the op mode, use the blocks to set the variables to the respective values. For `WHEEL_CIRCUMFERENCE_MM`

a combination of the , , and blocks to get the circumference of the wheel. The

$y = a
*b$

$a$ = `COUNTS_PER_MOTOR_REV`

$b$ = `DRIVE_GEAR_REDUCTION`

$y$ = `COUNTS_PER_WHEEL_REV`

$x = \frac{(a*b)}{c} = \frac{y}{c}$

$a$ = `COUNTS_PER_MOTOR_REV`

$b$ = `DRIVE_GEAR_REDUCTION`

$c$ = `WHEEL_CIRCUMFERENCE_MM`

$y$ = `COUNTS_PER_WHEEL_REV`

$x$ = `COUNTS_PER_MM`

Again math blocks need to be used to define these variables. Lets start with the `COUNTS_PER_WHEEL_REV`

variable. Add a to the block. Add the and blocks to either side of the block.

Since `COUNTS_PER_WHEEL_REV`

has been calculated it can be used to calculate `COUNTS_PER_MM`

add the to the . On the left side of the add the block. On the right side of the add the .

Ticks per revolution

28 ticks

Total gear reduction

30.21

Circumference of the wheel

$90mm * \pi$