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--- robotsoftware:mobotware:rhd:plugins:rtq [2012/08/01 12:54]
claes
+++ robotsoftware:mobotware:rhd:plugins:rtq [2021/08/14 04:21] (current)
@@ Line 13: / Line 13: @@
 The relation between the linear speed and angular velocity is given by $v = r*\omega$ where $r$ is the radius of the circle and $\omega$ is the anguler velocity.
-$$\alpha=r*\Theta*R*m_{RPM} -> m_{RPM}=\frac{\alpha}{r*\Theta*R}$$
+To change $\omega$ from RPM to $rad/s$ the following converson is done
+$$1 RPM = 1\frac{rev}{min}*2\pi\frac{rad}{min}*\frac{1}{60}\frac{min}{s}=\frac{\pi}{30}\frac{rad}{s} $$
-$$\frac{\pi}{30}\frac{rad}{s}=\Theta$$
+This constant is called $\frac{\pi}{30}\frac{rad}{s}=\Theta$
+The angular velocity from the motor to the drivewheel is defines by $\omega=G*m_{RPM}$, $G=$ [[robots:armadillo:hardware:gearratio|Gear Ratio]]
+Combine the above formulas and you get the following
-$$\omega=R*m_{RPM}$$ R=[[robots:armadillo:hardware:gearratio|Gear Ratio]]
+$$v=r*\Theta*G*m_{RPM} -> m_{RPM}=\frac{v}{r*\Theta*G}$$
+== Change RPM to control value ==
 $$controlvalue=\frac{m_{rpm}}{max_{rpm}}*1000$$
@@ Line 25: / Line 30: @@
 $$max_{RPM}=8000$$
-$$1 RPM = 1\frac{rev}{min}*2\pi\frac{rad}{min}*\frac{1}{60}\frac{min}{s}=\frac{\pi}{30}\frac{rad}{s}$$

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