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Hello,
I’m currently using a robot with IG 52 motors + encoders and a kangaroo + sabertooth for control.
Kangaroo API talks about encoder lines as units for controlling the motors. I suppose this is the same notion as encoder poles, but I’m not sure. Also, I didn’t found anywhere the number of Poles Per Turn for the IG 52. Many forum threads points to this datasheet: http://www.superdroidrobots.com/images/encoder-datasheet.jpg but:
1. It doesn’t mention encoder for a diameter of 52mm
2. I’m having hard times understanding all the numbers in the counts poles per turn. Shouldn’t we find only one number per line ?
This tutorial:Tech Thursday #016: IG32,42, and 52 Encoder Interfacing and CPR Calculation
says that IG42 has 5 poles. OK, I can find a 5 in the data sheet for this motor, but why should I choose this number among the other ones for this motor ?Thanks
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