Odometer Settings (0x0C,0x43)
| Description |
Configures the hardware odometer interface. |
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| Notes |
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| Parameter Name | Data Type | Description | |||||||||
| Field Length | u8 | 12 | |||||||||
| Descriptor | u8 | 0x43 | |||||||||
| Function Selector | u8 |
This command supports the following MIP function selectors:Write Read Save Load Default
[WRSLD]
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| Mode | u8 enum |
Mode setting.
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| Scaling | float | Encoder pulses per meter of distance traveled [pulses/m]. Distance traveled is computed using the formula d = p / N * 2R * pi, where d is distance, p is the number of pulses received, N is the encoder resolution, and R is the wheel radius. By simplifying all of the parameters into one, the formula d = p / S is obtained, where s is the odometer scaling factor passed to this command. S is equivalent to N / (2R * pi) and has units of pulses / meter. N is in units of "A" pulses per revolution and R is in meters. Make this value negative if the odometer is mounted so that it rotates backwards. | |||||||||
| Uncertainty | float | Uncertainty in encoder counts to distance translation (1-sigma value) [m/m]. | |||||||||
| Response Data | Data Type | Description | |||||||||
| Response Length | u8 | 11 | |||||||||
| Response Descriptor | u8 | 0xC3 | |||||||||
| Mode | u8 enum |
Mode setting.
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| Scaling | float | Encoder pulses per meter of distance traveled [pulses/m]. Distance traveled is computed using the formula d = p / N * 2R * pi, where d is distance, p is the number of pulses received, N is the encoder resolution, and R is the wheel radius. By simplifying all of the parameters into one, the formula d = p / S is obtained, where s is the odometer scaling factor passed to this command. S is equivalent to N / (2R * pi) and has units of pulses / meter. N is in units of "A" pulses per revolution and R is in meters. Make this value negative if the odometer is mounted so that it rotates backwards. | |||||||||
| Uncertainty | float | Uncertainty in encoder counts to distance translation (1-sigma value) [m/m]. | |||||||||