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Rotation Sensors My Version
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Robotics Academy 2002. All Rights Reserved.
Rotational Sensors
The rotation sensor can measure the rotationof the wheels.
By measuring the rotation of the wheels, and knowing the diameter of the wheels, we can measure and control how far the robot travels.
Remember: The rotation sensor has 16 counts per rotation.
Robotics Academy 2002. All Rights Reserved.
Geometry Review
The Diameter isthe distance across the circlethrough its center.It is twice the radius.
The Circumferenceis the distance allthe way around the circle.
Robotics Academy 2002. All Rights Reserved.
Geometry Review
1 turn of the wheel 1 turn of the wheel is called is called 1 revolution1 revolution
How big is How big is 1 1 revolution?revolution?
It is as long as the It is as long as the circumference of the circumference of the wheel!wheel!
How do I calculate the circumference (1 revolution)???
CCircumference = x Diameter
= 3.14= 3.14
How do I calculate the circumference (1 revolution)???
CCircumference = 3.143.14 xx
RRevolution = 3.143.14 xx
What about 1 revolution? How do I calculate that?
Let’s Practice!Let’s Practice!CCircumference = 3.143.14 xx
The diameter of my wheel is 2 cm
The diameter of my wheel is 2 cm
C = 3.14 x 2C = 3.14 x 2 6.28 cm6.28 cm
Let’s Practice!Let’s Practice!CCircumference = 3.143.14 xx
The diameter of my wheel is 3.5 cm
The diameter of my wheel is 3.5 cm
C = 3.14 x 3.5C = 3.14 x 3.5 10.99 cm10.99 cm
Robotics Academy 2002. All Rights Reserved.
Circumference
Question: When this robot’s wheels make one revolution, how far does the robot travel?
Answer: One circumference of the wheel!
Robotics Academy 2002.
Count or Click
The rotation sensor has 16 counts per rotation.
The rotation sensor has 16 counts per rotation.
1 count or click
2nd count or click
Robotics Academy 2002.
How big is 1 click?
Circumference Circumference
1616
Let’s Practice!Let’s Practice!1 Click1 Click = CC : 16: 16
The diameter of my wheel is 3 cm
The diameter of my wheel is 3 cm
C = 3.14 x 3C = 3.14 x 3
0.58… cm0.6 cm
0.58… cm0.6 cmClick = 9.42 : 16Click = 9.42 : 16
9.42
Let’s Practice!Let’s Practice!1 Click1 Click = CC : 16: 16
The diameter of my wheel is 2.5 cm
The diameter of my wheel is 2.5 cm
C = 3.14 x 2.5C = 3.14 x 2.50.4906…
cm0.5 cm
0.4906… cm
0.5 cmClick = 7.85 : 16Click = 7.85 : 16
7.85
Let’s Solve Some Problems!Let’s Solve Some Problems!
The diameter of my wheel is 4 cm, the length of the table is 50 cm
The diameter of my wheel is 4 cm, the length of the table is 50 cm
C = 3.14 x 4C = 3.14 x 4
63.7.. clicks63.7.. clicks
Click = 12.56 : 16Click = 12.56 : 16
12.56 cm
Determine how many clicks it will take to drive your robot on the side of your table.
0.785 cm
50 cm : 0.785 cm50 cm : 0.785 cm
Let’s Solve Some Problems!Let’s Solve Some Problems!
The diameter of my wheel is 3 cm, the length of the table is 104 cm
The diameter of my wheel is 3 cm, the length of the table is 104 cm
C = 3.14 x 3C = 3.14 x 3
176.3...clicks
176.3...clicks
Click = 9.42 : 16Click = 9.42 : 16
9.42 cm
Determine how many clicks it will take to drive your robot on the side of your table.
0.59 cm
104 cm : 0.59 cm104 cm : 0.59 cm
Let’s Solve Some Problems!Let’s Solve Some Problems!
The diameter of my wheel is 1.5 cm, the length of the table is 104 cm
The diameter of my wheel is 1.5 cm, the length of the table is 104 cm
C = 3.14 x 1.5C = 3.14 x 1.5
358.6 clicks358.6 clicks
Click = 4.71 : 16Click = 4.71 : 16
4.71 cm
Determine how many clicks it will take to drive your robot on the side of your table.
0.29 cm
104 cm : 0.29 cm104 cm : 0.29 cm
Extra Info
Robotics Academy 2002. All Rights Reserved.
Example
The diameter of this wheel is 8 cm.
C = x D. That means its circumference is 8 x 3.14 = 25.1 cm.The rotation sensor has 16 counts per rotation.
That means the robot will travel25.1 / 16 = 1.57 cm per sensor count.