I have to design a PID controller for a differential drive robot.
Currently I am having problems figuring out a suitable timer calculation for this.
- The hardware board consists of a AVR atmega168 running at 16mhz.
- Driven by two 24v scooter motors with 256 CPR encoders
- The motors spin roughly at about 4700 RPM and has a 51.56:1 gear ratio
Currently I am having problems figuring out a suitable timer calculation for this.